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Survivable cloud multi-robotics framework for heterogeneous environments

机译:适用于异构环境的可生存云多机器人框架

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摘要

The emergence of cloud computing has transformed the potential of robotics by enabling multi-robotic teams to fulfil complex tasks in the cloud. This paradigm is known as “cloud robotics” and relieves robots from hardware and software limitations, as large amounts of available resources and parallel computing capabilities are available in the cloud. The introduction of cloud-enabled robots alleviates the need for computationally intensive robots to be built, as many, if not all, of the CPU-intensive tasks can be offloaded into the cloud, resulting in multi-robots that require much less power, energy consumption and on-board processing units.While the benefits of cloud robotics are clearly evident and have resulted in an increase in interest among the scientific community, one of the biggest challenges of cloud robotics is the inherent communication challenges brought about by disconnections between the multi-robotic system and the cloud. The communication delays brought about by the cloud disconnection results in robots not being able to receive and transmit data to the physical cloud. The unavailability of these robotic services in certain instances could prove fatal in a heterogeneous environment that requires multi-robotic teams to assist with the saving of human lives. This niche area is relatively unexplored in the literature.This work serves to assist with the challenge of disconnection in cloud robotics by proposing a survivable cloud multi-robotics (SCMR) framework for heterogeneous environments. The SCMR framework leverages the combination of a virtual ad hoc network formed by the robot-to-robot communication and a physical cloud infrastructure formed by the robot-to-cloud communications. The Quality of Service (QoS) on the SCMR framework is tested and validated by determining the optimal energy utilization and Time of Response (ToR) on drivability analysis with and without cloud connection. The experimental results demonstrate that the proposed framework is feasible for current multi-robotic applications and shows the survivability aspect of the framework in instances of cloud disconnection.
机译:云计算的出现使多机器人团队能够在云中完成复杂的任务,从而改变了机器人技术的潜力。这种范例被称为“云机器人”,它使机器人摆脱了硬件和软件的限制,因为云中有大量可用资源和并行计算功能。启用云的机器人的引入减轻了构建计算密集型机器人的需要,因为即使不是全部,也可以将许多(如果不是全部)CPU密集型任务卸载到云中,从而导致多机器人需要更少的电力,能源尽管云机器人技术的好处是显而易见的,并已引起科学界的兴趣增加,但云机器人技术的最大挑战之一是多机器人之间的断开带来的固有通信挑战-机器人系统和云。云断开造成的通信延迟导致机器人无法接收数据并将数据传输到物理云。在某些情况下,无法使用这些机器人服务可能会在需要多机器人团队协助挽救生命的异构环境中造成致命的后果。这个利基领域在文献中还没有得到充分的研究。这项工作通过为异构环境提出可生存的云多机器人(SCMR)框架,来帮助应对云机器人技术中的断开连接挑战。 SCMR框架利用了由机器人到机器人通信形成的虚拟自组织网络和由机器人到云通信形成的物理云基础设施的组合。通过确定在有或没有云连接的情况下的可驾驶性分析中的最佳能源利用率和响应时间(ToR),来测试和验证SCMR框架上的服务质量(QoS)。实验结果表明,提出的框架对于当前的多机器人应用是可行的,并且显示了在云断开的情况下该框架的可生存性方面。

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  • 作者

    Ramharuk Vikash;

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  • 年度 2015
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  • 原文格式 PDF
  • 正文语种 en
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