1. Integrating Smart Resources in ROS-based systems to distribute services
- Author
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Munera-Sánchez, Eduardo, Poza-Lujan, Jose-Luis, Posadas-Yagüe, Juan-Luis, Simó Ten, José Enrique, and Blanes Noguera, Francisco
- Subjects
0209 industrial biotechnology ,Computer science ,Control (management) ,02 engineering and technology ,Informótica ,computer.software_genre ,lcsh:QA75.5-76.95 ,Robot Operating System ,Intelligent Sensors ,020901 industrial engineering & automation ,0202 electrical engineering, electronic engineering, information engineering ,General Environmental Science ,Computing ,General Engineering ,020206 networking & telecommunications ,Computación ,ARQUITECTURA Y TECNOLOGIA DE COMPUTADORES ,Engineering management ,Work (electrical) ,Smart Resources ,Distributed Systems ,Operating system ,General Earth and Planetary Sciences ,Christian ministry ,lcsh:Electronic computers. Computer science ,Information Technology ,computer - Abstract
[EN] Mobile robots execute complexes tasks that involve the management of several embedded sensors and actuators. Therefore, in many cases, a robot is characterized as an intelligent distributed system formed with a central unit, which manages the on-board embedded devices and distributes the tasks execution. Embedded devices are also evolving to more complex systems. These systems are developed not only for executing simple tasks but also for offering some advanced mechanisms. Thus, complex data processing, adaptive execution, or fault-tolerance routines are some common system features. The Smart Resource topology has been developed in order to manage these embedded systems. This topology offers high-level routines that rely on a certain physical hardware execution. Therefore, Smart Resources are defined as distributed services providers, which operates within some context and quality requirements. Provided services can adapt its execution in order accomplish the set requirements and maximize the system performance. How to improve the versatility of the Smart Resources by making their services compatibles with the Robot Operating System (ROS) is addressed along this work. This solution integrates all the execution mechanisms provided by ROS with the service distribution, adaptive execution, and fault-tolerance routines offered by the Smart Resources. This integration is tested through a set of experiments using the Turtlebot robot platform and a simulated version of it. In both approaches ROS mechanisms are used to access the Smart Resource Services. Finally, obtained results are used to characterize the performance of this proposal., Work supported by the Spanish Science and Innovation Ministry MICINN: CICYT project M2C2: "Codiseno de sistemas de control con criticidad mixta basado en misiones" TIN2014-56158-C4-4-P and PAID (Polytechnic University of Valencia): UPV-PAID-FPI-2013.
- Published
- 2017
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