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Cloud-Native Fog robotics: Model-Based Deployment and Evaluation of Real-Time Applications

IEEE roboticS AND automation LETTERS 2025年第1期10卷 398-405页

作者： Wen, Long Zhang, Yu Rickert, Markus Lin, Jianjie Pan, Fengjunjie Knoll, Alois Tech Univ Munich Sch Computat Informat & Technol Robot Artificial Intelligence & Real Time Syst D-80333 Munich Germany Univ Bamberg Fac Informat Syst & Appl Comp Sci Multimodal Intelligent Interact D-96047 Bamberg Germany Mercedes Benz Grp RD ASF Driver Abstract D-70372 Stuttgart Germany

As the field of robotics evolves, robots become increasingly multi-functional and complex. Currently, there is a need for solutions that enhance flexibility and computational power without compromising real-time performance. The emergence of fog computing and cloud-native approaches addresses these challenges. In this paper, we integrate a microservice-based architecture with cloud-native fog robotics to investigate its performance in managing complex robotic systems and handling real-time tasks. Additionally, we apply model-based systems engineering (MBSE) to achieve automatic configuration of the architecture and to manage resource allocation efficiently. To demonstrate the feasibility and evaluate the performance of this architecture, we conduct comprehensive evaluations using both bare-metal and cloud setups, focusing particularly on real-time and machine-learning-based tasks. The experimental results indicate that a microservice-based cloud-native fog architecture offers a more stable computational environment compared to a bare-metal one, achieving over 20% reduction in the standard deviation for complex algorithms across both CPU and GPU. It delivers improved startup times, along with a 17% (wireless) and 23% (wired) faster average message transport time. Nonetheless, it exhibits a 37% slower execution time for simple CPU tasks and 3% for simple GPU tasks, though this impact is negligible in cloud-native environments where such tasks are typically deployed on bare-metal systems.

关键词： Robots Microservice architectures Computer architecture Robot kinematics Real-time systems Resource management software Hardware Modeling Edge computing Hardware-software integration in robotics software architecture for robotic and automation

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Active perception network for non-myopic online exploration and visual surface coverage

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INTERNATIONAL JOURNAL OF roboticS RESEARCH 2025年第2期44卷 247-272页

作者： Vutetakis, David Xiao, Jing Univ North Carolina Dept Comp Sci Charlotte NC USA Worcester Polytech Inst Dept Robot Engn Worcester MA USA

This work addresses the problem of online exploration and visual sensor coverage of unknown environments. We introduce a novel perception roadmap we refer to as the Active Perception Network (APN) that serves as a hierarchical topological graph describing how to traverse and perceive an incrementally built spatial map of the environment. The APN state is incrementally updated to expand a connected configuration space that extends throughout as much of the known space as possible, using efficient difference-awareness techniques that track the discrete changes of the spatial map to inform the updates. A frontier-guided approach is presented for efficient evaluation of information gain and covisible information, which guides view sampling and refinement to ensure maximum coverage of the unmapped space is maintained within the APN. The updated roadmap is hierarchically decomposed into subgraph regions which we use to facilitate a non-myopic global view sequence planner. A comparative analysis to several state-of-the-art approaches was conducted, showing significant performance improvements in terms of total exploration time and surface coverage, and demonstrating high computational efficiency that is scalable to large and complex environments.

关键词： Aerial systems: perception and autonomy reactive and sensor-based planning software tools for robot programming software architecture for robotic and automation

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CAD2SLAM: Adaptive Projection Between CAD Blueprints and SLAM Maps

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IEEE roboticS AND automation LETTERS 2025年第2期10卷 1529-1536页

作者： Bayon-Gutierrez, Martin Prieto-Fernandez, Natalia Garcia-Ordas, Maria Teresa Benitez-Andrades, Jose Alberto Alaiz-Moreton, Hector Grisetti, Giorgio Univ Leon Dept Elect Syst & Automatic Engn Leon 24071 Spain Univ Leon Dept Comp Control & Management Engn Antonio Rubert I-00185 Rome Italy

robotic mobile platforms are key building blocks for numerous applications and cooperation between robots and humans is a key aspect to enhance productivity and reduce labor cost. To operate safely, robots typically rely on a custom map of the environment that depends on the sensor configuration of the platform. In contrast, blueprints stand as an abstract representation of the environment. The use of both CAD and SLAM maps allows robots to collaborate using the blueprint as a common language, while also easing the control for non-robotics experts. In this work we present an adaptive system to project a 2D pose in the blueprint to the SLAM map and vice-versa. Previous work in the literature aims at morphing a SLAM map to a previously available map. In contrast, CAD2SLAM does not alter the internal map representation used by the SLAM and localization algorithms running on the robot, preserving its original properties. We believe that our system is beneficial for the control and supervision of multiple heterogeneous robotic platforms that are monitored and controlled through the CAD map. Finally, we present a set of experiments that support our claims as well as open-source implementation.

关键词： Simultaneous localization and mapping Robots Robot sensing systems Navigation Location awareness Solid modeling Accuracy Floors Collaboration Pipelines software architecture for robotic and automation computational geometry mapping computational geometry

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VDMNav: software architecture for Aerodynamically Constrained Navigation on Small Fixed-Wing Drones

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IEEE roboticS AND automation LETTERS 2024年第3期9卷 2869-2876页

作者： Laupre, Gabriel Francois Sharma, Aman Skaloud, Jan Ecole Polytech Fed Lausanne EPFL Environm Sensing Observ CH-1015 Lausanne Switzerland

Navigation of drones is predominantly based on sensor fusion algorithms. Most of these algorithms make use of some form of Bayesian filtering with a majority employing an Extended Kalman Filter (EKF), wherein inertial measurements are fused with a Global Navigation Satellite System (GNSS), and other sensors, in a kinematic framework to yield a navigation solution (position, velocity, attitude, and time). However, the long-term accuracy of this solution is exacerbated during the absence of satellite positioning, especially for small drones with low-cost MEMS inertial sensors. On the other hand, a recently proposed vehicle dynamic model (VDM)-based navigation system has shown significant improvement in positioning accuracy during the absence of a satellite positioning solution, although in a mostly offline setting. In this article, we present the software architecture of its real-time implementation using Robot Operating System (ROS) that separates and interfaces its core from a particular hardware. The presented implementation asynchronously handles different sensor data in a modular fashion and allows i) adapting the underlying aerodynamic model, ii) including complementary sensors, and iii) reducing the dimensionality of the EKF state space at run-time without compromising the navigation performance. The real-time performance of the proposed software architecture is evaluated during long GNSS absences of up to eight minutes and compared to that of inertial coasting.

关键词： Field robots software architecture for robotic and automation software-hardware integration for robot systems

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Plug'n Play Task-Level Autonomy for robotics Using POMDPs and Probabilistic Programs

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IEEE roboticS AND automation LETTERS 2024年第1期9卷 587-594页

作者： Wertheim, Or Suissa, Dan R. Brafman, Ronen I. Ben Gurion Univ Negev Dept Comp Sci IL-84105 Beer Sheva Israel

We describe AOS, the first general-purpose system for model-based control of autonomous robots using AI planning that fully supports partial observability and noisy sensing. The AOS provides a code-based language for specifying a generative model of the system, making model specification easier and model sampling efficient. It provides a language for specifying the relation between the model and the code, using which it auto-generates all required integration code. This allows Plug'n Play behavior, which facilitates incremental and modular system design. Extensive experiments on real and simulated robotic platforms demonstrate these advantages.

关键词： AI-enabled robotics autonomous agents integrated planning and control planning under uncertainty software architecture for robotic and automation

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Autonomous System for Tumor Resection (ASTR) - Dual-Arm robotic Midline Partial Glossectomy

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IEEE roboticS AND automation LETTERS 2024年第2期9卷 1166-1173页

作者： Ge, Jiawei Kam, Michael Opfermann, Justin D. Saeidi, Hamed Leonard, Simon Mady, Leila J. Schnermann, Martin J. Krieger, Axel Johns Hopkins Univ Dept Mech Engn Baltimore MD 21211 USA Univ N Carolina Dept Comp Sci Wilmington NC 28403 USA Johns Hopkins Univ Dept Elect & Comp Engn Baltimore MD 21211 USA Johns Hopkins Univ Johns Hopkins Sch Med Dept Otolaryngol Head & Neck Surg Baltimore MD 21287 USA NCI Chem Biol Lab Ctr Canc Res NIH Frederick MD 21702 USA

Head and neck cancers are the seventh most common cancers worldwide, with squamous cell carcinoma being the most prevalent histologic subtype. Surgical resection is a primary treatment modality for many patients with head and neck squamous cell carcinoma, and accurately identifying tumor boundaries and ensuring sufficient resection margins are critical for optimizing oncologic outcomes. This letter presents an innovative autonomous system for tumor resection (ASTR) and conducts a feasibility study by performing supervised autonomous midline partial glossectomy for pseudotumor with millimeter accuracy. The proposed ASTR system consists of a dual-camera vision system, an electrosurgical instrument, a newly developed vacuum grasping instrument, two 6-DOF manipulators, and a novel autonomous control system. The letter introduces an ontology-based research framework for creating and implementing a complex autonomous surgical workflow, using the glossectomy as a case study. Porcine tongue tissues are used in this study, and marked using color inks and near-infrared fluorescent (NIRF) markers to indicate the pseudotumor. ASTR actively monitors the NIRF markers and gathers spatial and color data from the samples, enabling planning and execution of robot trajectories in accordance with the proposed glossectomy workflow. The system successfully performs six consecutive supervised autonomous pseudotumor resections on porcine specimens. The average surface and depth resection errors measure 0.73 +/- 0.60 mm and 1.89 +/- 0.54 mm, respectively, with no positive tumor margins detected in any of the six resections. The resection accuracy is demonstrated to be on par with manual pseudotumor glossectomy performed by an experienced otolaryngologist.

关键词： Index Terms-Medical robots and systems software architecture for robotic and automation control architectures and programming

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A Tree-Based World Model for Reducing System Complexity in Autonomous Mobile Manipulation

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IEEE roboticS AND automation LETTERS 2024年第7期9卷 6680-6687页

作者： Sakagami, Ryo Doemel, Andreas Lehner, Peter Riedel, Sebastian Brunner, Sebastian G. Albu-Schaeffer, Alin Stulp, Freek German Aerosp Ctr DLR Inst Robot & Mechatron D-82234 Wessling Germany German Aerosp Ctr DLR D-82234 Wessling Germany

Mobile manipulation tasks in unstructured environments remain challenging for autonomous robots. The need to employ a diverse set of software and hardware components to solve the various subtasks inevitably increases system complexity. Knowledge exchange among such diverse components renders them highly coupled, reduces communication efficiency, and makes the knowledge less accessible. To overcome these challenges, we propose AIMM-WM, a central world model as a single source of truth having an abstracted geometric tree structure. Despite its concise, efficient state representation, AIMM-WM is able to provide a wide range of information from low-level geometries to highly abstracted symbols and is interfaced with diverse components for navigation, motion planning, perception, decision-making, and mission control. We evaluate the performance of AIMM-WM from the real use case of our Lightweight Rover Unit during the four-week Moon-analogue demo mission on Mt. Etna, Italy.

关键词： Robots software Navigation End effectors Complexity theory Decision making Collision avoidance Mobile manipulation software architecture for robotic and automation

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Fields2Cover: An Open-Source Coverage Path Planning Library for Unmanned Agricultural Vehicles

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IEEE roboticS AND automation LETTERS 2023年第4期8卷 2166-2172页

作者： Mier, Gonzalo Valente, Joao de Bruin, Sytze Wageningen Univ & Res Lab Geoinformat Sci & Remote Sensing NL-6708 PB Wageningen Netherlands Wageningen Univ & Res Informat Technol Grp NL-6708 PB Wageningen Netherlands

This letter describes Fields2Cover, a novel open source library for coverage path planning (CPP) for agricultural vehicles. While there are several CPP solutions nowadays, there have been limited efforts to unify them into an open source library and provide benchmarking tools to compare their performance. Fields2Cover provides a framework for planning coverage paths, developing novel techniques, and benchmarking state-of-the-art algorithms. The library features a modular and extensible architecture that supports various vehicles and can be used for a variety of applications, including farms. Its core modules are: a headland generator, a swath generator, a route planner and a path planner. An interface to the Robot Operating System (ROS) is also supplied as an add-on. In this letter, the functionalities of the library for planning a coverage path in agriculture are demonstrated using 8 state-of-the-art methods and 7 objective functions in simulation and field experiments.

关键词： Libraries Linear programming Generators Robots Planning Path planning software algorithms Agricultural automation software architecture for robotic and automation field robots

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Overworld: Assessing the Geometry of the World for Human-Robot Interaction

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IEEE roboticS AND automation LETTERS 2023年第3期8卷 1874-1880页

作者： Sarthou, Guillaume Univ Toulouse LAAS CNRS CNRS Toulouse France

For a robot to interact with humans in a given environment, a key need is to understand its environment in terms of the objects composing it, the other agents acting in it, and the relations between all of them. This capability is often called the geometrical situation assessment and is mainly related to spatial reasoning in time. In this letter, we present Overworld, a novel lightweight and open-source framework, merging the key features of a decade of research in the domain. It permanently maintains a geometric state of the world from the point of view of the robot by aggregating perceptual information from several sources and reasoning on them to create a coherent world. Furthermore, Overworld implements perspective-taking by emulating the humans' ability to perceive to estimate the state of the world from their perspective. Finally, thanks to a strong link with an ontology framework, it ensures knowledge coherence in the whole robotic architecture. This work is part of a broader effort to develop a complete, stable, and shareable decisional robotic architecture for Human-Robot Interaction.

关键词： Multi-modal perception for HRI human-robot collaboration software architecture for robotic and automation

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Impact of ROS 2 Node Composition in robotic Systems

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IEEE roboticS AND automation LETTERS 2023年第7期8卷 3996-4003页

作者： Macenski, Steve Soragna, Alberto Carroll, Michael Ge, Zhenpeng Samsung Res Amer Mountain View CA 94043 USA iRobot Corp Bedford MA 01730 USA Open Robot Mountain View CA 94043 USA Univ Elect Sci & Technol China Chengdu 610056 Peoples R China

The Robot Operating System 2 (ROS 2) is the second generation of ROS representing a step forward in the robotic framework. Several new types of nodes and executor models are integral to control where, how, and when information is processed in the computational graph. This letter explores and benchmarks one of these new node types - the Component node - which allows nodes to be composed manually or dynamically into processes while retaining separation of concerns in a codebase for distributed development. Composition is shown to achieve a high degree of performance optimization, particularly valuable for resource-constrained systems and sensor processing pipelines, enabling distributed tasks that would not be otherwise possible in ROS 2. In this work, we briefly introduce the significance and design of node composition, then our contribution of benchmarking is provided to analyze its impact on robotic systems. Its compelling influence on performance is shown through several experiments on the latest Long Term Support (LTS) ROS 2 distribution, Humble Hawksbill.

关键词： Robots Task analysis Robot sensing systems Optimization Operating systems Middleware Benchmark testing Engineering for robotic systems software architecture for robotic and automation software tools for robot programming

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