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Catering to Real-Time Requirements of Cloud-Connected Mobile Manipulators

 
: Walter, Christoph; Scholle, Julian-Benedikt; Elkmann, Norbert

:
Fulltext urn:nbn:de:0011-n-5930054 (3.4 MByte PDF)
MD5 Fingerprint: 8ef73336524816bea1e0e36174a3e221
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Created on: 11.7.2020


Künstliche Intelligenz : KI 33 (2019), No.2, pp.143-150
ISSN: 0933-1875
ISSN: 1610-1987
English
Journal Article, Electronic Publication
Fraunhofer IFF ()

Abstract
In this contribution, we explore real-time requirements of mobile manipulators, a class of intelligent robots, in the context of the ongoing fast-robotics (https://de.fast-zwanzig20.de/industrie/fast-robotics/) project. The project aims at implementing such robots based on (edge-) cloud-services using wireless communication in order to make them more capable and efficient. Instead of trying to universally achieve hard real-time in such a system, we present a mixed real-time approach with an application centered fault tolerance scheme based on transition points and pre-computed alternate plans. We argue that deliberatively addressing uncertainties in timing is similarly important than handling uncertainties e.g. in perception for future intelligent robots.

: http://publica.fraunhofer.de/documents/N-593005.html