Enabling containerized computing and orchestration of ROS-based robotic SW applications on cloud-server-edge architectures: late breaking results

Enabling containerized computing and orchestration of ROS-based robotic SW applications on cloud-server-edge architectures: late breaking results

연구 분야: Verification

학회: DAC '20: Proceedings of the 57th ACM/EDAC/IEEE Design Automation Conference

We present a toolchain based on Docker and KubeEdge that enables containerization and orchestration of ROS-based robotic SW applications on heterogeneous and hierarchical HW architectures. The toolchain allows for verification of functional and real-time constraints through HW-in-the-loop simulation, and for automatic mapping exploration of the SW across Cloud-Server-Edge architectures. We present the results obtained for the deployment of a real case of study composed by an ORB-SLAM application combined to local/global planners with obstacle avoidance for a mobile robot navigation.