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  4. Redundancy Concepts for Real-Time Cloud- and Edge-based Control of Autonomous Mobile Robots
 
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2022
Conference Paper
Title

Redundancy Concepts for Real-Time Cloud- and Edge-based Control of Autonomous Mobile Robots

Abstract
Deploying navigation algorithms on an edge or cloud server according to the Software-as-a-Service paradigm has many advantages for autonomous mobile robots in indus-trial environments, e.g. cooperative planning and less onboard energy consumption. However, outsourcing corresponding real-time critical control functions requires a high level of reliability, which cannot be guaranteed either by modern wireless networks nor by the outsourced computing infrastructure. This work introduces redundancy concepts, which enable real-time capability within these uncertain infrastructures by providing redundant computation nodes, as well as robot-controlled switching between them. Redundancies can vary regarding their physical location, robot behavior during the switchover process and degree of activeness while quality of service concerning the primary controller is sufficient. In the case that fallback redun-dancies are not continuously active, when a disturbance occurs an initial state estimation of the robot pose has to be provided and an activation time has to be anticipated. To gain some insights on expected behavior, redundant computation nodes are deployed locally on the robot and on an outsourced computation node and consequently evaluated empirically. Quantitative and qualitative results in simulation and a real environment show that redun-dancies help to significantly improve the robot-trajectory within an unreliable network. Moreover, resource-saving redundancies, which are not continuously active, can robustly take over control by using an estimated state.
Author(s)
Nouruzi-Pur, Jan
Gestalt Robotics GmbH
Lambrecht, Jens
Gestalt Robotics GmbH
Nguyen, The Duy
Gestalt Robotics GmbH
Vick, Axel  
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
Krüger, Jörg  
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
Mainwork
IEEE 18th International Conference on Factory Communication Systems, WFCS 2022  
Conference
International Conference on Factory Communication Systems 2022  
DOI
10.1109/WFCS53837.2022.9779202
Language
English
Fraunhofer-Institut für Produktionsanlagen und Konstruktionstechnik IPK  
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