RT Generic
T1 Experimental evaluation of robot operating systems in distributed teleoperated scenarios
A1 Moreno Laguna, Blas
AB The Robot Operating System (ROS) has been developed as an open-source frameworkconsisting of multiple libraries and tools to facilitate the design and developmentof robot applications and components. Despite the significant benefits introduced by itsmodular design, ROS suffers several drawbacks, including meeting real-time latency andthroughput constraints in non ideal-networking conditions, and on scalability in multirobotdeployments. To address these issues, a new version of ROS, dubbed as ROS 2, hasbeen recently released. ROS 2 benefits from several innovations, including Data DistributionService (DDS) and to enhance real-time communication features.While ROS 2 may provide better performances in most of today’s realistic roboticdeployment, a constrained battery capacity still represent a major drawback in roboticapplications, specially those characterized by heavy computing of multiple data sourcessuch as video-analytics and machine-learning. In this context, 5G mobile networks aswell as edge/cloud computing paradigm offer the possibility to offload energy-demandingcomputational tasks, such as Machine-Learning (ML) and video processing, to nearbyinfrastructure, relieving the computational burden of the robots and increasing their operationaltime.In this thesis, we investigate the behavior of ROS and ROS 2 robotic application focusingon remote teleoperated scenarios, comparing their performances in centralized anddistributed deployments, i.e., when processing is executed on the robot, or supported byedge/cloud platforms by means of wireless communication.As a result, we provide an exhaustive analysis of the generated traffic load exploitinga virtualized environment, taking advantage of the measurement capabilities that such acontrolled scenario provides. Clearly, a trade-off exists between computational power,networking usage, and battery consumption. Therefore, we consider these aspects andprovide a numerical evaluation characterizing the benefits of distributed systems overcentralized ones, also exploiting the latest ROS 2 technological improvements.
YR 2022
FD 2022-09
LK https://hdl.handle.net/10016/37161
UL https://hdl.handle.net/10016/37161
LA eng
DS e-Archivo
RD 30 jun. 2024