Rovim: A Generic and Extensible Virtual Machine for Mobile Robots

Fres, Omar Álvarez; Alonso, Ignacio González

doi:10.1109/icons.2010.14

Cited by 1 publication

(1 citation statement)

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“…Within robotics, virtualisation has been pioneered by several authors. In Fres et al ( Fres and Alonso, 2010 ) a virtual machine is used to encapsulate the controller for a mobile robot using a novel programming language, while ( Hinze et al, 2018 ) employs containers to run multiform grasping simulations with real-time control requirements. The limitation of these approaches is that the proposed systems are not designed to support a complex robotic architecture, as virtualisation is not used at its full power.…”

Section: Introductionmentioning

confidence: 99%

A containerised approach for multiform robotic applications

Cotugno,

Rodrigues,

Deacon

et al. 2024

Front. Robot. AI

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As the area of robotics achieves promising results, there is an increasing need to scale robotic software architectures towards real-world domains. Traditionally, robotic architectures are integrated using common frameworks, such as ROS. Therefore, systems with a uniform structure are produced, making it difficult to integrate third party contributions. Virtualisation technologies can simplify the problem, but their use is uncommon in robotics and general integration procedures are still missing. This paper proposes and evaluates a containerised approach for designing and integrating multiform robotic architectures. Our approach aims at augmenting preexisting architectures by including third party contributions. The integration complexity and computational performance of our approach is benchmarked on the EU H2020 SecondHands robotic architecture. Results demonstrate that our approach grants simplicity and flexibility of setup when compared to a non-virtualised version. The computational overhead of using our approach is negligible as resources were optimally exploited.

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Section: Introductionmentioning

confidence: 99%