Pubblicazioni

Autori:

Lumpp, Francesco; Panato, Marco; Bombieri, Nicola; Fummi, Franco

Titolo:

A Design Flow based on Docker and Kubernetes for ROS-based Robotic Software Applications

Anno:

2024

Tipologia prodotto:

Articolo in Rivista

Tipologia ANVUR:

Articolo su rivista

Lingua:

Inglese

Formato:

Elettronico

Referee:

Sì

Nome rivista:

ACM Transactions on Embedded Computing Systems

ISSN Rivista:

1539-9087

Editore:

ACM

Intervallo pagine:

1-25

Parole chiave:

ROS; Docker; Kubernetes; Robotic applications; Edge-Cloud computing; K3S

Breve descrizione dei contenuti:

Human-centered robotic applications are becoming pervasive in the context of robotics and smart manufacturing and such a pervasiveness is even more expected with the shift to Industry 5.0. The always increasing level of autonomy of modern robotic platforms requires the integration of software applications from different domains to implement artificial intelligence, cognition, and human- robot/robot-robot interaction. Developing and (re)configuring such a multi-domain software to meet functional constraints is a challenging task. Even more challenging is customizing the software to satisfy non-functional requirements such as real-time, reliability, and energy efficiency. In this context, the concept of Edge-Cloud continuum is gaining consensus as a solution to address functional and non-functional constraints in a seamless way. Containerization and orchestration are becoming a standard practice as they allow for better information flow among different network levels as well as increased modularity in the use of multi-domain software components. Nevertheless, the adoption of such a practice along the design flow, from simulation to the deployment of complex robotic applications by addressing the de-facto development standards (e.g., ROS - Robotic Operating System) is still an open problem. We present a design methodology based on Docker and Kubernetes that enables containerization and orchestration of ROS-based robotic SW applications for heterogeneous and hierarchical HW architectures. The methodology aims at (i) integrating and verifying multi-domain components since early in the design flow, (ii) mapping software tasks to containers to minimize the performance and memory footprint overhead, (iii) clustering containers to efficiently distribute load across the edge-cloud architecture by minimizing resource utilization, and (iv) enabling multi-domain verification of functional and non-functional constraints before deployment. The article presents the results obtained with a real case of study, in which the design methodology has been applied to program the mission of a Robotnik RB-Kairos mobile robot in an industrial agile production chain. We have obtained reduced load on the robot’s HW with minimal performance and network overhead thanks to the optimized distributed system.

Pagina Web:

https://dl.acm.org/doi/pdf/10.1145/3594539

Id prodotto:

133365

Handle IRIS:

11562/1092207

ultima modifica:

31 gennaio 2025

Citazione bibliografica:

Lumpp, Francesco; Panato, Marco; Bombieri, Nicola; Fummi, Franco, A Design Flow based on Docker and Kubernetes for ROS-based Robotic Software Applications «ACM Transactions on Embedded Computing Systems» , 2024 , pp. 1-25

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