dc.creator | Salmerón García, Javier Jesús | es |
dc.creator | Íñigo Blasco, Pablo | es |
dc.creator | Díaz del Río, Fernando | es |
dc.creator | Cagigas Muñiz, Daniel | es |
dc.date.accessioned | 2018-02-12T10:07:19Z | |
dc.date.available | 2018-02-12T10:07:19Z | |
dc.date.issued | 2015 | |
dc.identifier.citation | Salmerón García, J.J., Íñigo Blasco, P., Díaz del Río, F. y Cagigas Muñiz, D. (2015). A Tradeoff Analysis of a Cloud-Based Robot Navigation Assistant Using Stereo Image Processing. IEEE Transactions on Automation Science and Engineering, 12 (2), 444-454. | |
dc.identifier.issn | 1545-5955 | es |
dc.identifier.uri | https://hdl.handle.net/11441/70203 | |
dc.description.abstract | The use of Cloud Computing for computation offloading
in the robotics area has become a field of interest today.
The aim of this work is to demonstrate the viability of cloud offloading
in a low level and intensive computing task: a vision-based
navigation assistance of a service mobile robot. In order to do so,
a prototype, running over a ROS-based mobile robot (Erratic by
Videre Design LLC) is presented. The information extracted from
on-board stereo cameras will be used by a private cloud platform
consisting of five bare-metal nodes with AMD Phenom 965 4
CPU, with the cloud middleware Openstack Havana. The actual
task is the shared control of the robot teleoperation, that is, the
smooth filtering of the teleoperated commands with the detected
obstacles to prevent collisions. All the possible offloading models
for this case are presented and analyzed. Several performance
results using different communication technologies and offloading
models are explained as well. In addition to this, a real navigation
case in a domestic circuit was done. The tests demonstrate that
offloading computation to the Cloud improves the performance
and navigation results with respect to the case where all processing
is done by the robot. | es |
dc.description.sponsorship | Ministerio de Economía y Competitividad TEC2012-37868-C04-02/01 | es |
dc.format | application/pdf | es |
dc.language.iso | eng | es |
dc.publisher | IEEE Computer Society | es |
dc.relation.ispartof | IEEE Transactions on Automation Science and Engineering, 12 (2), 444-454. | |
dc.rights | Attribution-NonCommercial-NoDerivatives 4.0 Internacional | * |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-nd/4.0/ | * |
dc.subject | Cloud offloading | es |
dc.subject | Cloud robotics | es |
dc.subject | Image point cloud | es |
dc.subject | Mobile robots | es |
dc.subject | Navigation assistance | es |
dc.subject | Shared control | es |
dc.title | A Tradeoff Analysis of a Cloud-Based Robot Navigation Assistant Using Stereo Image Processing | es |
dc.type | info:eu-repo/semantics/article | es |
dcterms.identifier | https://ror.org/03yxnpp24 | |
dc.type.version | info:eu-repo/semantics/submittedVersion | es |
dc.rights.accessRights | info:eu-repo/semantics/openAccess | es |
dc.contributor.affiliation | Universidad de Sevilla. Departamento de Arquitectura y Tecnología de Computadores | es |
dc.relation.projectID | TEC2012-37868-C04-02/01 | es |
dc.relation.publisherversion | http://ieeexplore.ieee.org/document/7052418/ | es |
dc.identifier.doi | 10.1109/TASE.2015.2403593 | es |
dc.contributor.group | Universidad de Sevilla. TEP-108: Robótica y Tecnología de Computadores Aplicada a la Rehabilitación | es |
idus.format.extent | 11 | es |
dc.journaltitle | IEEE Transactions on Automation Science and Engineering | es |
dc.publication.volumen | 12 | es |
dc.publication.issue | 2 | es |
dc.publication.initialPage | 444 | es |
dc.publication.endPage | 454 | es |
dc.contributor.funder | Ministerio de Economía y Competitividad (MINECO). España | |