Toward Distributed Streaming Data Sharing Manager for Autonomous Robot Control

Hiroaki Fukuda, Ryota Gunji, Tadahiro Hasegawa, Paul Leger, Ismael Figueroa

研究成果: Conference contribution

抜粋

Using robots is demanding for supporting our lives and/or covering works that are not suitable for human beings. The robot software implementation requires a variety of knowledge and experiences. Thereby developing cost for such software systems is now increasing. Middleware systems such as Robot Operating System (ROS) are being developed to decrease such cost and widely used. Streaming data Sharing Manager (SSM) is one of such middleware systems that allow developers to write and read sensor data with timestamps using a common PC. This feature enables developers to control a robot by taking account of measured time. This control is important because using multiple sensor data with different timestamp cannot allow developers to control a robot correctly. SSM assumes that only one PC is used to control a robot, therefore if it exists a process that consumes much CPU resource, other processes cannot finish their assumed deadlines, leading to the unexpected behavior of a robot. This paper proposes an architecture called Distributed Streaming data Sharing Manager (DSSM) that enables to distributing each process on existing SSM to different PCs. We investigate the current architecture and behavior of SSM, then propose a new architecture that can achieve our goal. Finally, we apply DSSM to an existing SSM based robot control system that autonomously controls an unmanned vehicle, then confirm the effectiveness of DSSM by measuring the resource usages.

元の言語English
ホスト出版物のタイトルProceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020
出版者Institute of Electrical and Electronics Engineers Inc.
ページ862-866
ページ数5
ISBN(電子版)9781728166674
DOI
出版物ステータスPublished - 2020 1
イベント2020 IEEE/SICE International Symposium on System Integration, SII 2020 - Honolulu, United States
継続期間: 2020 1 122020 1 15

出版物シリーズ

名前Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020

Conference

Conference2020 IEEE/SICE International Symposium on System Integration, SII 2020
United States
Honolulu
期間20/1/1220/1/15

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Biomedical Engineering
  • Control and Systems Engineering
  • Safety, Risk, Reliability and Quality
  • Control and Optimization
  • Instrumentation

フィンガープリント Toward Distributed Streaming Data Sharing Manager for Autonomous Robot Control' の研究トピックを掘り下げます。これらはともに一意のフィンガープリントを構成します。

  • これを引用

    Fukuda, H., Gunji, R., Hasegawa, T., Leger, P., & Figueroa, I. (2020). Toward Distributed Streaming Data Sharing Manager for Autonomous Robot Control. : Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020 (pp. 862-866). [9025920] (Proceedings of the 2020 IEEE/SICE International Symposium on System Integration, SII 2020). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII46433.2020.9025920