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We showed how the computing environments and the communication protocols allow robots to offload their computation to the cloud

Rapyuta: A Cloud Robotics Platform

Automation Science and Engineering, IEEE Transactions  , no. 2 (2015): 481-493

Cited by: 230|Views378
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Abstract

In this paper, we present the design and implementation of Rapyuta, an open-source cloud robotics platform. Rapyuta helps robots to offload heavy computation by providing secured customizable computing environments in the cloud. The computing environments also allow the robots to easily access the RoboEarth knowledge repository. Furthermo...More

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Introduction
  • T HE past decade has seen the first successful, large-scale use of mobile robots. the vast majority of these robots either continue to use simple control strategies (e.g., robot vacuum cleaners) or are operated remotely by humans (e.g., drones, unmanned ground vehicles, and telepresence robots).
  • The vast majority of these robots either continue to use simple control strategies or are operated remotely by humans
  • One reason these mobile robots lack intelligence is because the costs of onboard computation and storage are high; this affects the robot's price point, and results in the need for additional space and extra weight, which constrain the robot's mobility and operation time.
  • Cloud robotics applications hold the potential for lighter, smarter, and more cost-effective robots
Highlights
  • T HE past decade has seen the first successful, large-scale use of mobile robots
  • We described the design, implementation, benchmarking results, and the first demonstrations of Rapyuta, a PaaS framework for robots
  • We showed how the computing environments and the communication protocols allow robots to offload their computation to the cloud
  • We described how Rapyuta's computing environments can be interconnected to share specific resources with other environments, making it a suitable framework for multi-robot control and coordination
  • Our choice of communication protocols were explained, and an example was provided to clarify the different types of messages and to show how they work together
  • We provided some benchmarking results for different protocols
Conclusion
  • The authors described the design, implementation, benchmarking results, and the first demonstrations of Rapyuta, a PaaS framework for robots.
  • Rapyuta, based on an elastic computing model, dynamically allocates secured computing environments for robots.
  • The authors showed how the computing environments and the communication protocols allow robots to offload their computation to the cloud.
  • The authors provided some benchmarking results for different protocols
Funding
  • This work was supported by the European Union Seventh Framework Programme FP7/2007–2013 under Grant 248942 RoboEarth and by AWS (Amazon Web Services) in Education Grant Award
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