Cloud Robotics with ROS

Open CLORO: An Open Testbed for Cloud Robotics

2019 IEEE 24th International Workshop on Computer Aided Modeling and Design of Communication Links and Networks (CAMAD) ◽

10.1109/camad.2019.8858492 ◽

2019 ◽

Cited By ~ 1

Author(s):

Giuseppe Portaluri ◽

Mike Ojo ◽

Stefano Giordano ◽

Marialaura Tamburello ◽

Giuseppe Caruso

Keyword(s):

Cloud Robotics

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Networking for Cloud Robotics: The DewROS Platform and Its Application

Journal of Sensor and Actuator Networks ◽

10.3390/jsan10020034 ◽

2021 ◽

Vol 10 (2) ◽

pp. 34

Author(s):

Alessio Botta ◽

Jonathan Cacace ◽

Riccardo De Vivo ◽

Bruno Siciliano ◽

Giorgio Ventre

Keyword(s):

Response Time ◽

Large Data ◽

Cloud Services ◽

Cloud Provider ◽

Human Beings ◽

Minimal Impact ◽

Network Connection ◽

Cloud Robotics ◽

Networking Technologies ◽

The Impact

With the advances in networking technologies, robots can use the almost unlimited resources of large data centers, overcoming the severe limitations imposed by onboard resources: this is the vision of Cloud Robotics. In this context, we present DewROS, a framework based on the Robot Operating System (ROS) which embodies the three-layer, Dew-Robotics architecture, where computation and storage can be distributed among the robot, the network devices close to it, and the Cloud. After presenting the design and implementation of DewROS, we show its application in a real use-case called SHERPA, which foresees a mixed ground and aerial robotic platform for search and rescue in an alpine environment. We used DewROS to analyze the video acquired by the drones in the Cloud and quickly spot signs of human beings in danger. We perform a wide experimental evaluation using different network technologies and Cloud services from Google and Amazon. We evaluated the impact of several variables on the performance of the system. Our results show that, for example, the video length has a minimal impact on the response time with respect to the video size. In addition, we show that the response time depends on the Round Trip Time (RTT) of the network connection when the video is already loaded into the Cloud provider side. Finally, we present a model of the annotation time that considers the RTT of the connection used to reach the Cloud, discussing results and insights into how to improve current Cloud Robotics applications.

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