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一种容器化方法,用于多种形式的机器人应用.

Giuseppe Cotugno1, Rafael Afonso Rodrigues1, Graham Deacon1

  • 1Ocado Technology, Welwyn Garden City, United Kingdom.

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|May 9, 2024
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概括
此摘要是机器生成的。

本研究介绍了一种集装箱式方法来整合多种机器人软件架构,简化了第三方贡献的纳入. 该方法为可扩展的机器人提供了灵活性和最小的计算开销.

关键词:
微服务就是微服务.机器人集成 机器人集成机器人软件设计 机器人软件设计机器人架构的机器人架构.虚拟化是一种虚拟化.

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科学领域:

  • 机器人技术 机器人技术 机器人技术
  • 软件工程 软件工程 软件工程
  • 计算机科学 计算机科学

背景情况:

  • 机器人软件架构在扩展和集成各种组件方面面临着挑战.
  • 传统的整合方法,如ROS,导致统一的系统阻碍第三方贡献.
  • 虚拟化提供了潜力,但缺乏机器人技术中确定的程序.

研究的目的:

  • 提出和评估用于设计和集成多形机器人架构的容器化方法.
  • 通过促进包括第三方贡献来增强现有的机器人系统.
  • 为了对拟议方法的集成复杂性和计算性能进行比较.

主要方法:

  • 开发了用于机器人架构集成的容器化方法.
  • 增强了使用容器的第三方贡献的现有架构.
  • 基于欧盟H2020第二手机器人架构的方法进行了基准测试.

主要成果:

  • 与非虚拟化系统相比,容器化方法在设置方面表现出了简单性和灵活性.
  • 计算开销被发现是可以忽略不计的,与最佳的资源利用.
  • 成功地将第三方贡献集成到复杂的机器人架构中.

结论:

  • 容器化为集成多形机器人架构提供了一个可行的解决方案.
  • 拟议的方法提高了灵活性,并简化了外部模块在机器人技术中的集成.
  • 这种方法为更具可扩展性和适应性的机器人系统铺平了道路.