This book explores cloud robotics by casting a light on key issues and proposing a novel approach towards implementation and practical aspects to allow for the widespread adoption of cloud-based functionality. The advent of cloud robotics can to unleash a new generation of smart robotic devices by allowing robots to explore cloud computing capabilities to share data and to offload heavy processing applications. Cloud robotics is investigated as an enabler to a series of applications and devices, questioning how the insertion of network and cloud technologies into such systems might affect the interaction between a robot and the human operating it, and what are the limiting requirements for cloud-based solutions. Aiming at researchers and practitioners, this book also presents a methodology based on open-source software and commercial off-the-shelf devices to provide a common standard for reproducing and benchmarking different cloud robotics systems.
Author(s): Ricardo C. Mello, Moises R. N. Ribeiro, Anselmo Frizera-Neto
Series: Springer Tracts in Advanced Robotics, 152
Publisher: Springer
Year: 2022
Language: English
Pages: 109
City: Cham
Series Editor’s Foreword
Preface
Acknowledgements
Contents
1 Introduction to Cloud Robotics
1.1 Empowering Robots Using the Cloud
1.2 Challenges in Developing Cloud Robotics
1.2.1 Enabling Requirements
1.2.2 Implementation Aspects and Reproducibility
1.3 Open Aspects
1.4 Scope of the Book
References
2 Offloading Robots' Processing to the Cloud
2.1 Cloud-Enabled Cyber-Physical Systems
2.1.1 Human-Robot Interaction and Cloud Robotics in Healthcare
2.2 Requirements, Current Limitations, and Challenges
2.3 Case Study: Mobility Assistance Service Enabled by the Cloud
2.3.1 A Cloud-Enabled Assistive Robot: The CloudWalker
2.3.2 Virtual Trails for Mobility Assistance
2.3.3 Experiments
2.4 Discussion: Impacts of Cloud-Based HRI
2.5 Remarks
References
3 Connectivity for Mobile Robots
3.1 Enabling Technologies for Cloud Robotics: Wireless Indoor Connectivity
3.2 A General Architecture for Cloud Robotics in Clinical Healthcare
3.3 Case Study: Re-designing the Virtual Trails Service
3.3.1 Experimentation and Results
3.4 Remarks
References
4 Cloud-Robot Communication
4.1 Common Practices and Software: The Robot Operating System
4.2 The PoundCloud Communication Framework
4.3 Experimentation Platform: A Virtualized Testbed for Cloud Robotics
4.3.1 Robot Simulation
4.3.2 Network Emulation
4.3.3 Cloud Emulation
4.3.4 Case Study: Cloud-Enabled Autonomous Navigation
4.3.5 Results
4.4 Remarks
References
5 A Common Methodology for Cloud Robotics Experimentation
5.1 Towards an Open Cloud Robotics Methodology
5.2 Robotic Platform for Experimentation
5.3 Cloud Platforms for Experimentation
5.4 Cloud-Based Services for Robotic Tasks
5.5 Case Study 1: Human-Robot Interaction
5.5.1 Follow-in-Front Service
5.5.2 Experimental Protocol
5.5.3 Results
5.6 Case Study 2: Autonomous Navigation
5.6.1 Autonomous Navigation Service
5.6.2 Experimental Protocol
5.6.3 Results
5.7 Discussion
5.8 Remarks
References
6 Conclusions and Future Directions
6.1 Key Aspects of This Book
6.2 Opportunities for Cloud Robotics Research
6.3 Final Remarks
References
