Distributed Service-Oriented Robotics

Remy, Sekou L.; Blake, M. Brian

doi:10.1109/mic.2011.38

Cited by 35 publications

(19 citation statements)

References 8 publications

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“…SOA and Web services have been used to develop mission critical applications for different domains, such as enterprise software, embedded systems, robotics, and pervasive applications (Deugd et al, 2006;Remy and Blake, 2011). As a high level of reliability is demanded in these domains, software testing is a fundamental activity that should be performed.…”

Section: Service Testingmentioning

confidence: 99%

Model based testing of service oriented applications

Endo¹

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Section: Service Testingmentioning

confidence: 99%

Model based testing of service oriented applications

Endo¹

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“…ROS uses a publish/subscribe based on topics communication system (Cousins et al, 2010). If the complexity of the nodes increase, the robot nodes, sensors and actuators become a service provider (Remy and Blake, 2011). When the robot or device services are compatible with ROS, the device is defined as ROS-ready robot (or ROS-ready device).…”

Section: Related Workmentioning

confidence: 99%

Integrating Smart Resources in ROS-based systems to distribute services

Munera-Sánchez

Poza-Lujan

Posadas-Yagüe

et al. 2017

ADCAIJ

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“…The idea in a few words is that the software pieces are replaced by services provided via the Internet. In the robotics community the potential applications, the benefits and the main lines for research regarding Cloud Computing have already been foreseen [17,18] and some platforms are already starting to emerge [19]. Nevertheless, with some recent exceptions referred to in the next paragraph, there is still a lack of specific algorithms and specific realizations of these ideas.…”

Section: Related Workmentioning

confidence: 99%

C2TAM: A Cloud framework for cooperative tracking and mapping

Riazuelo

Civera

Montiel

2014

Robotics and Autonomous Systems

228

112

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The Simultaneous Localization And Mapping by an autonomous mobile robot -known by its acronym SLAM-is a computationally demanding process for medium and large-scale scenarios, in spite of the progress both in the algorithmic and hardware sides. As a consequence, a robot with SLAM capabilities has to be equipped with the latest computers whose weight and power consumption might limit its autonomy.This paper describes a visual SLAM system based on a distributed framework where the expensive map optimization and storage is allocated as a service in the Cloud, while a light camera tracking client runs on a local computer. The robot onboard computers are freed from most of the computation, the only extra requirement being an internet connection. The data flow from and to the Cloud is low enough to be supported by a standard wireless connection.The experimental section is focused on showing real-time performance for single-robot and cooperative SLAM using an RGBD camera. The system provides the interface to a map database where: 1) a map can be built and stored, 2) stored maps can be reused by other robots, 3) a robot can fuse its map online with a map already in the database, and 4) several robots can estimate individual maps and fuse them together if an overlap is detected.

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Distributed Service-Oriented Robotics

Cited by 35 publications

References 8 publications

Model based testing of service oriented applications

Model based testing of service oriented applications

Integrating Smart Resources in ROS-based systems to distribute services

C2TAM: A Cloud framework for cooperative tracking and mapping

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