A Relay System for Supporting the Execution of Context-Aware Robot Services on ROS


KIPS Transactions on Computer and Communication Systems, Vol. 6, No. 5, pp. 211-218, May. 2017
10.3745/KTCCS.2017.6.5.211,   PDF Download:
Keywords: Relay System, Context-Aware Robot Services, Robot Middleware, IoT Computing Environments
Abstract

Recent robot software platform research focuses on providing intelligent service via abstraction of robot devices. Context-aware techniques are necessary for intelligent robot services, which are based on the perception of environmental information obtained from heterogeneous sensors in IoT environment. Robot Operating System (ROS) provides protocols to operate robot devices. ROS includes functions for abstracting heterogeneous sensors themselves in order to control the robot, however, it lacks the ability to provide context information that the robot can perceive based on environmental information through consistent collection methods. In this paper, we propose a relay system for ROS to provide context-aware robot service. The proposed system makes it possible for ROS to control and provide context-aware robot services with relay of an external context-aware system and ROS. In experiments, we demonstrate procedures that robot services abstracted from ROS and an external context-aware system works together based on the proposed system.


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Cite this article
[IEEE Style]
M. Lee, J. Choi, J. Choi, "A Relay System for Supporting the Execution of Context-Aware Robot Services on ROS," KIPS Transactions on Computer and Communication Systems, vol. 6, no. 5, pp. 211-218, 2017. DOI: 10.3745/KTCCS.2017.6.5.211.

[ACM Style]
Minho Lee, Jongsun Choi, and Jaeyoung Choi. 2017. A Relay System for Supporting the Execution of Context-Aware Robot Services on ROS. KIPS Transactions on Computer and Communication Systems, 6, 5, (2017), 211-218. DOI: 10.3745/KTCCS.2017.6.5.211.