Moreno Laguna, Blas2023-04-212023-04-212022-092022-10-13https://hdl.handle.net/10016/37161The Robot Operating System (ROS) has been developed as an open-source framework consisting of multiple libraries and tools to facilitate the design and development of robot applications and components. Despite the significant benefits introduced by its modular design, ROS suffers several drawbacks, including meeting real-time latency and throughput constraints in non ideal-networking conditions, and on scalability in multirobot deployments. To address these issues, a new version of ROS, dubbed as ROS 2, has been recently released. ROS 2 benefits from several innovations, including Data Distribution Service (DDS) and to enhance real-time communication features. While ROS 2 may provide better performances in most of today’s realistic robotic deployment, a constrained battery capacity still represent a major drawback in robotic applications, specially those characterized by heavy computing of multiple data sources such as video-analytics and machine-learning. In this context, 5G mobile networks as well as edge/cloud computing paradigm offer the possibility to offload energy-demanding computational tasks, such as Machine-Learning (ML) and video processing, to nearby infrastructure, relieving the computational burden of the robots and increasing their operational time. In this thesis, we investigate the behavior of ROS and ROS 2 robotic application focusing on remote teleoperated scenarios, comparing their performances in centralized and distributed deployments, i.e., when processing is executed on the robot, or supported by edge/cloud platforms by means of wireless communication. As a result, we provide an exhaustive analysis of the generated traffic load exploiting a virtualized environment, taking advantage of the measurement capabilities that such a controlled scenario provides. Clearly, a trade-off exists between computational power, networking usage, and battery consumption. Therefore, we consider these aspects and provide a numerical evaluation characterizing the benefits of distributed systems over centralized ones, also exploiting the latest ROS 2 technological improvements.engAtribución-NoComercial-SinDerivadas 3.0 EspañaRobot operating system5GEdge computingCloud computingbachelor thesisTelecomunicacionesopen access