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Cloud Robotics


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Cloud Robotics

  1. 1. 한국해양과학기술진흥원 Cloud Robotics 2013.10.6 Sayed Chhattan Shah, PhD Electronics and Telecommunications Research Institute, Korea
  2. 2. 한국해양과학기술진흥원 2 Acknowledgements Ken Goldberg, UC Berkeley, “Cloud Robotics” Guoqiang Hu, NTU Singapore, “Cloud Robotics: Architecture, Challenges and Applications”
  3. 3. 한국해양과학기술진흥원 Outline  Introduction  Applications  Challenges  Current Research  Future Research Directions
  4. 4. 한국해양과학기술진흥원 Cloud Robotics  Robots that rely on cloud-computing infrastructure to access vast amounts of processing power and data  Allow robots to offload compute-intensive tasks  Image processing  Voice recognition  Robots can download new skills instantly  Enabling Factors  Mobile Devices  Wireless networks  Rapidly expanding Internet resources
  5. 5. 한국해양과학기술진흥원 Benefits  Provides a shared knowledge database  Organizes and unifies information about the world in a format usable by robots Offloads heavy computing tasks to the cloud  Cheaper, lighter, easier-to-maintain hardware  Longer battery life  Less need for software pushes/updates  CPU hardware upgrades are invisible & hassle-free Skill / Behavior Database  Reusable library of “skills” or behaviors that map to perceived task requirements / complex situations
  6. 6. 한국해양과학기술진흥원 Example  Cloud-enabled Object Recognition  Google Goggles project
  7. 7. 한국해양과학기술진흥원 Example  Robot Goggles  Upload images -> Download Semantic • Object name • 3D model, mass, materials, friction properties • Usage instructions - function, how to grasp, operate • Context and Domain knowledge
  8. 8. 한국해양과학기술진흥원 Example  Matrix Movie Scene  For humans, still science fiction  For robots?
  9. 9. 한국해양과학기술진흥원 Example  Maps and Localization  Shared and highly detailed maps of the world stored in the cloud  Updates can be published and immediately used
  10. 10. 한국해양과학기술진흥원 Cloud Robotics and Networked Robots
  11. 11. 한국해양과학기술진흥원 Cloud Robotics and Networked Robots
  12. 12. 한국해양과학기술진흥원 Cloud Robotics and Networked Robots  Peer-based Model  Proxy-based Model  Clone-based Model
  13. 13. 한국해양과학기술진흥원 Cloud Robotics Projects  Researchers at ASORO laboratory have built a cloud computing infrastructure to generate 3-D models of environments  Allowing robots to perform simultaneous localization and mapping much faster than by relying on their onboard computers • SLAM refers to a technique for a robot to build a map of the environment without a priori knowledge, and to simultaneously localize itself in the unknown environment  The backend system consists of a Hadoop distributed file system that can store data from laser scanners, odometer data, or images and video streams from cameras
  14. 14. 한국해양과학기술진흥원 Cloud Robotics Projects  At LAAS, Jean-Paul Laumond, and colleagues are creating object databases for robots to simplify the planning of manipulation tasks like opening a door  The idea is to develop a software framework where objects come with a "user manual" for the robot to manipulate them  This manual would specify, for example, the position from which the robot should manipulate the object  The approach tries to break down the computational complexity of manipulation tasks into simpler, decoupled parts:  A simplified manipulation problem based on the object's "user manual," and  A whole-body motion generation by an inverse kinematics solver, which the robot's computer can solve in real time
  15. 15. 한국해양과학기술진흥원 Cloud Robotics Projects  Gostai, a French robotics firm, has built a cloud robotics infrastructure called GostaiNet, which allows a robot to perform speech recognition, face detection, and other tasks remotely  Gostai's Jazz telepresence robot uses the cloud for video recording and voice synthesis
  16. 16. Cloud Robotics
  17. 17. 한국해양과학기술진흥원 Challenges  Limited Resources  Mobility  Limited Power  Dynamic Network Environment  Security  Computation Challenges  Offload decision  Offload strategy  Communication Challenges  Data transfer time
  18. 18. 한국해양과학기술진흥원 Cloud Robotics  Same as:  Remote computing?  Mobile cloud computing?  Mobile Grid Computing?