Cloudroid: A Cloud Framework for Transparent and QoS-Aware Robotic Computation Outsourcing

Abstract

Abstract-Many robotic tasks require heavy computation, which can easily exceed the robot's onboard computer capability. A promising solution to address this challenge is outsourcing the computation to the cloud. However, exploiting the potential of cloud resources in robotic software is difficult, because it involves complex code modification and extensive (re)configuration procedures. Moreover, quality of service (QoS) such as timeliness, which is critical to robot's behavior, have to be considered. In this paper, we propose a transparent and QoS-aware software framework called Cloudroid for cloud robotic applications. This framework supports direct deployment of existing robotic software packages to the cloud, transparently transforming them into Internet-accessible cloud services. And with the automatically generated service stubs, robotic applications can outsource their computation to the cloud without any code modification. Furthermore, the robot and the cloud can cooperate to maintain the specific QoS property such as request response time, even in a highly dynamic and resource-competitive environment. We evaluated Cloudroid based on a group of typical robotic scenarios and a set of software packages widely adopted in real-world robot practices. Results show that robots capability can be enhanced significantly without code modification and specific QoS objectives can be guaranteed. In certain tasks, the "cloud + robot" setup shows improved performance in orders of magnitude compared with the robot native setup.

Cloudroid Swarm: A QoS‐Aware Framework for Multirobot Cooperation Offloading

“…To solve Rapyuta's limitations of dynamical deployment for complex tasks and the lack of cloud management tools, our previous work, Cloudroid [13], supports the automatic 3 Wireless Communications and Mobile Computing deployment of existing robotic software packages to the cloud, thus transparently transforming them into Internet-accessible cloud services with QoS assurance. However, both Rapyuta and Cloudroid only focus on one individual robot for computation offloading and our evaluation in Section 6 shows that they are not suitable for a cooperative multiple robot applications.…”

“…To enable the cooperation offloading, we propose a framework named Cloudroid Swarm, which leverages the network environment inside the cloud to support communication between computation modules. Built on the foundation of Cloudroid [13], Cloudroid Swarm still exploits the splitting computation module for each robot. The new components designed for each robot are the network module in the cloud side and the network operator inside local robots.…”

Reutilización de software en la robótica industrial: un mapeo sistemático

“…La tendencia a inclinarse por estos enfoques es clara. Entre las principales ventajas se encuentra que el primero intenta eliminar limitaciones de hardware y ayudar al trabajo colaborativo entre dispositivos robóticos (Hu et al, 2017), mientras que, el segundo permite la programación y reprogramación de estos sistemas de manera rápida y por personal no experto (Maurtua et al, 2017).…”

A Comprehensive Survey of Recent Trends in Cloud Robotics Architectures and Applications

“…Architecture [6][7][8][9][10][11][12][13][14][15][16][17][18][19][20] Development of software Execution and round-trip communication architecture for heterogeneous time for SLAM and robotic manipulation robots to share sensor tasks. data between processing nodes for computationally intense algorithms.…”

“…In [9], the authors proposed a Web services-based solution specifically for the Nao robot, which enables it to utilize their software package libraries as an on-demand solution in the form of a service. Many recent works in the cloud robotics literature [8,12,13,19,20] investigate quality-of-service (QoS)-aware and other intelligent techniques for efficient work flow allocation, resource allocation and computational offloading to the cloud for real-time execution. In [18], Nandhini et al proposed a secured framework that provides authentication and key agreement using Elliptic Curve Crytptography (ECC) for accessing the robotic services that are hosted in the cloud.…”