Advertisement

Quantifying the Impact of Standards When Hosting Robotic Simulations in the Cloud

  • Sekou L. Remy
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8016)

Abstract

Cloud computing has the ability to transform simulation by providing access to computation remotely. The transformations are not without cost however. The physics-based simulations required in robotics are sensitive to timing, and given the complexity of the operating environments, there are many reasons for a roboticist to be concerned.

In this work we explore the impact of the cloud, web, and networking standards on the control of a simulated robot. Our results show that, on average, there is a noticeable impact on performance, but this impact is not statistically significant in five of the six considered scenarios. These results provide support for efforts that seek to use the cloud to support meaningful simulations. Our results are not globally applicable to robotics simulation. When using cloud-hosted simulations, roboticists yield fine tuned control of the environment, and as such there are some simulations are simply not viable candidates for this treatment.

Keywords

Cloud Computing Mobile Robot Navigation Task Defense Advance Research Project Agency Defense Advance Research Project Agency 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Gourdeau, R.: Object-oriented programming for robotic manipulator simulation. IEEE Robotics Automation Magazine 4(3), 21–29 (1997)CrossRefGoogle Scholar
  2. 2.
    Corke, P.I.: Robotics, Vision & Control: Fundamental Algorithms in Matlab. Springer (2011)Google Scholar
  3. 3.
    Ma, O., Buhariwala, K., Roger, N., MacLean, J., Carr, R.: MSDF – A generic development and simulation facility for flexible, complex robotic systems. Robotica 15, 49–62 (1997)CrossRefGoogle Scholar
  4. 4.
    Lerner, M.A., Ayalew, M., Peine, W.J., Sundaram, C.P.: Does training on a virtual reality robotic simulator improve performance on the da Vinci surgical system? J. Endourol. 24(3), 467–472 (2010)CrossRefGoogle Scholar
  5. 5.
    Mell, P., Gance, T.: The NIST Definition of Cloud Computing (September 2011)Google Scholar
  6. 6.
    Lin, H., Zhai, G., Antsaklis, P.: Robust stability and disturbance attenuation analysis of a class of networked control systems. In: 42nd IEEE Conference on Decision and Control, vol. 2, pp. 1182–1187 (December 2003)Google Scholar
  7. 7.
    Postel, J. (ed.): Information Sciences Institute: RFC 793 (1981), http://www.ietf.org/rfc/rfc793.txt
  8. 8.
    Fielding, R., Gettys, J., Mogul, J., Frystyk, H., Masinter, L., Leach, P., Berners-Lee, T.: Hypertext transfer protocol – http/1.1 (1999)Google Scholar
  9. 9.
    Raggett, D., Le Hors, A., Jacobs, I.: HTML 4.0 specification. World Wide Web Consortium, Recommendation REC-html40-19980424 (April 1998)Google Scholar
  10. 10.
    International, E.: Ecma-262 ecmascript language specification 5.1. JavaScript Specification, 1–245 (June 2011)Google Scholar
  11. 11.
    Berners-Lee, T., Fielding, R., Masinter, L.: Uniform Resource Identifiers (URI): Generic Syntax, RFC3986 (2005)Google Scholar
  12. 12.
    van Kesteren, A. (ed.): Information Sciences Institute: XMLHttpRequest Living Standard (February 2013), http://xhr.spec.whatwg.org
  13. 13.
    Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: An Open-Source Robot Operating System. In: ICRA Workshop on Open Source Software (2009)Google Scholar
  14. 14.
    Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2149–2154 (2004)Google Scholar
  15. 15.
    Vaughan, R.: Massively multi-robot simulation in stage. Swarm Intelligence 2(2), 189–208 (2008)CrossRefGoogle Scholar
  16. 16.
    Foote, T. (ed.): ROS: geometry_msgs/Twist Message (February 2013), http://www.ros.org/doc/api/geometry_msgs/html/msg/Twist.html
  17. 17.
    Hayati, S., Lee, T., Tso, K., Backes, P., Lloyd, J.: A unified teleoperated-autonomous dual-arm robotic system. IEEE Control Systems 11(2), 3–8 (1991)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  • Sekou L. Remy
    • 1
  1. 1.School of ComputingClemson UniversityClemsonUSA

Personalised recommendations