XBot2D:面向机器人混合云架构,用于现场机器人
Luca Muratore1, Nikos Tsagarakis1
1Humanoids and Human Centered Mechatronics (HHCM), Istituto Italiano di Tecnologia, Genova, Italy.
Frontiers in robotics and AI
|October 20, 2023
概括
这项研究介绍了XBot2D,一种混合云机器人架构. 它在本地机器人和云之间动态分配任务,在具有挑战性的环境中平衡性能和动力自主性.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 云计算 云计算 云计算 云计算
- 人工智能的人工智能
背景情况:
- 机器人在非结构化环境中面临挑战,需要平衡计算性能与动力自主性.
- 云机器人通过卸载计算提供解决方案,但网络限制阻碍了现实世界的部署.
研究的目的:
- 为混合云机器人设计一个软件架构,以应对动态环境和网络限制.
- 在本地机器人资源和云计算之间实现无的任务分配.
主要方法:
- 开发了XBot2D混合云管理器,用于动态资源配置.
- 实施了一个利用本地和云资源的二维 (2D) 框架.
- 支持本地实时 (RT) 技能和云中的AI / ML,根据网络条件自动迁移.
主要成果:
- XBot2D 动态分配机器人技能用于分布式计算.
- 该框架基于网络质量和机器人能力,透明地管理本地和云资源.
- 在各种网络条件下与CENTAURO机器人和AWS EC2验证.
结论:
- XBot2D为支持云计算的现场机器人提供了一个强大的解决方案.
- 该架构在具有挑战性的场景中增强了机器人的适应性,性能和动力自主性.
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