Virtual Objects for Robots and Sensor Nodes in Distributed Applications over the Cloud Continuum

The cloud-to-edge-to-IoT continuum represents a seamless flow of data processing and management, spanning from centralized cloud services to distributed edge computing and interconnected IoT devices. This paradigm can become very challenging in real implementations, especially in the presence of multiple stakeholders using proprietary and heterogeneous software and hardware. The Horizon Europe NEPHELE project proposes the virtualization of IoT devices through a specific software stack called Virtual Object Stack (VOStack) that promotes openness and interoperability. In this paper, we present an implementation of VOStack using W3C Web of Things (WoT) standard in a post-disaster domain for two different types of IoT devices: a ground robot (Turtlebot2) for navigation and mapping in an unknown environment, and a Raspberry Pi 3 acting as a wireless sensor network gateway. We propose an application graph for the resulting hyper-distributed application (HDA) and present our first implementation to validate the proposed solution.