Edge & Fog computing have received considerable attention as promising candidates for the evolution of robotic systems. In this letter, we propose COTORRA, an Edge & Fog driven robotic testbed that combines context information with robot sensor data to validate innovative concepts for robotic systems prior to being applied in a production environment. In lab/university, we established COTORRA as an easy applicable and modular testbed on top of heterogeneous network infrastructure. COTORRA is open for pluggable robotic applications. To verify its feasibility and assess its performance, we ran set of experiments that show how autonomous navigation applications can achieve target latencies bellow 15ms or perform an inter-domain (DLT) federation within 19 seconds.
翻译:作为有前途的机器人系统进化候选者,边缘和雾计算作为机器人系统进化的候选者,受到相当的重视。在本信中,我们提议CTOORA,一个以边缘和雾为驱动的机器人测试台,将背景信息与机器人传感器数据结合起来,在生产环境中应用之前验证机器人系统的创新概念。在实验室/大学,我们建立了COTOORA,作为在多式网络基础设施之上的易于应用和模块测试台。COTOORA可以接受可插入的机器人应用软件。为了核查其可行性和评估其性能,我们进行了一系列实验,以显示自主导航应用如何在19秒内达到目标晚点15米或运行一个跨域联盟。