Programming modern Robots’ missions and behav- ior has become a very challenging task. The always increasing level of autonomy of such platforms requires the integration of multi-domain software applications to implement artificial intelligence, cognition, and human-robot/robot-robot interaction applications. In addition, to satisfy both functional and non- functional requirements such as reliability and energy efficiency, robotic SW applications have to be properly developed to take advantage of heterogeneous (Edge-Fog-Cloud) architectures. In this context, containerization and orchestration are becoming a standard practice as they allow for better information flow among different network levels as well as increased modularity in the use of software components. Nevertheless, the adoption of such a practice along the design flow, from simulation to the deployment of complex robotic applications by addressing the de-facto development standards (i.e., robotic operating system - ROS - compliancy for robotic applications) is still an open problem. We present a design methodology based on Docker and Kubernetes that enables containerization and orchestration of ROS-based robotic SW applications for heterogeneous and hierarchical HW architectures. The design methodology allows for (i) integration and verification of multi-domain components since early in the design flow, (ii) task-to-container mapping techniques to guarantee minimum overhead in terms of perfor- mance and memory footprint, and (iii) multi-domain verification of functional and non-functional constraints before deployment. We present the results obtained in a real case of study, in which the design methodology has been applied to program the mission of a Robotnik RB-Kairos mobile robot in an industrial agile production chain.

A Container-based Design Methodology for Robotic Applications on Kubernetes Edge-Cloud architectures

Francesco Lumpp;Marco Panato;Franco Fummi;Nicola Bombieri
2021

Abstract

Programming modern Robots’ missions and behav- ior has become a very challenging task. The always increasing level of autonomy of such platforms requires the integration of multi-domain software applications to implement artificial intelligence, cognition, and human-robot/robot-robot interaction applications. In addition, to satisfy both functional and non- functional requirements such as reliability and energy efficiency, robotic SW applications have to be properly developed to take advantage of heterogeneous (Edge-Fog-Cloud) architectures. In this context, containerization and orchestration are becoming a standard practice as they allow for better information flow among different network levels as well as increased modularity in the use of software components. Nevertheless, the adoption of such a practice along the design flow, from simulation to the deployment of complex robotic applications by addressing the de-facto development standards (i.e., robotic operating system - ROS - compliancy for robotic applications) is still an open problem. We present a design methodology based on Docker and Kubernetes that enables containerization and orchestration of ROS-based robotic SW applications for heterogeneous and hierarchical HW architectures. The design methodology allows for (i) integration and verification of multi-domain components since early in the design flow, (ii) task-to-container mapping techniques to guarantee minimum overhead in terms of perfor- mance and memory footprint, and (iii) multi-domain verification of functional and non-functional constraints before deployment. We present the results obtained in a real case of study, in which the design methodology has been applied to program the mission of a Robotnik RB-Kairos mobile robot in an industrial agile production chain.
ROS
Docker
Robotic applications
Edge-Cloud computing
Orchestration
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11562/1053073
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