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MicROS-drt: supporting real-time and scalable data distribution in distributed robotic systems.

Bo Ding1, Huaimin Wang1, Zedong Fan1

  • 1College of Computer, National University of Defense Technology, Changsha, Hunan China.

Robotics and Biomimetics
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This study introduces micROS-drt, a new robot software infrastructure for efficient, real-time data distribution in distributed robotic systems. It ensures timely and scalable data sharing among collaborative robots.

Keywords:
Distributed computingReal-time data distributionRobot software infrastructure

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Area of Science:

  • Robotics
  • Distributed Systems
  • Software Engineering

Background:

  • Distributed robotic systems require timely and scalable data dissemination for collaboration.
  • Existing robot software infrastructure has limitations in dynamic, resource-constrained environments.
  • Real-time and scalable data distribution is a critical challenge.

Purpose of the Study:

  • To present a novel robot software infrastructure, micROS-drt, addressing data distribution challenges.
  • To enable real-time and scalable data dissemination in distributed robotic systems.
  • To leverage the Data Distribution Service for Real-Time Systems (DDS) for robust data transport.

Main Methods:

  • Developed micROS-drt based on a loosely coupled publish-subscribe model.
  • Utilized the Data Distribution Service for Real-Time Systems (DDS) as the transport layer foundation.
  • Adapted and encapsulated DDS capabilities within the micROS-drt infrastructure.

Main Results:

  • micROS-drt effectively supports real-time and scalable data distribution.
  • Evaluations demonstrated strong performance in scalability, latency jitter, and transport priority.
  • Experiments on real robots validated the infrastructure's effectiveness.

Conclusions:

  • micROS-drt meets the requirements for real-time and scalable data distribution in distributed robotic systems.
  • The integration of DDS provides a robust foundation for robotic data transport.
  • The proposed infrastructure enhances collaborative capabilities in dynamic robotic environments.