A methodology for cloud robotics implementation based on open-source software : from human-robot interaction to autonomous applications

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dc.contributor.advisor1Frizera Neto, Anselmo
dc.contributor.advisor1IDhttps://orcid.org/0000000206873967
dc.contributor.advisor1Latteshttp://lattes.cnpq.br/8928890008799265
dc.contributor.authorMello, Ricardo Carminati de
dc.contributor.authorIDhttps://orcid.org/0000000304204273
dc.contributor.authorLatteshttp://lattes.cnpq.br/1569638571582691
dc.contributor.referee1Ribeiro, Moises Renato Nunes
dc.contributor.referee1IDhttps://orcid.org/0000000291492391
dc.contributor.referee1Latteshttp://lattes.cnpq.br/1005553714687743
dc.contributor.referee2Siqueira, Adriano Almeida Goncalves
dc.contributor.referee2IDhttps://orcid.org/0000-0003-0663-156X
dc.contributor.referee2Lattesttp://lattes.cnpq.br/2935052598064187
dc.contributor.referee3Garcia, Carlos Andres Cifuentes
dc.contributor.referee3IDhttps://orcid.org/0000-0002-6942-865X
dc.contributor.referee3Latteshttp://lattes.cnpq.br/8650937498900305
dc.contributor.referee4Diaz, Camilo Arturo Rodriguez
dc.contributor.referee4IDhttps://orcid.org/0000000196575076
dc.contributor.referee4Latteshttp://lattes.cnpq.br/2410092083336272
dc.contributor.referee5Lima, Eduardo Rocon de
dc.contributor.referee5IDhttps://orcid.org/0000-0001-9618-2176
dc.contributor.referee5Latteshttp://lattes.cnpq.br/6623746131086816
dc.date.accessioned2024-05-30T00:50:08Z
dc.date.available2024-05-30T00:50:08Z
dc.date.issued2020-11-26
dc.description.abstractThe advent of the cloud robotics paradigm has the potential to unleash a whole new generation of smart robotic devices by allowing robots to communicate with each other and with remote computing platforms to share experiences, sensor data, and to o oad heavy processing applications. This work explores cloud robotics by casting a light on key issues and proposing novel solutions to allow for the widespread adoption of cloud based functionality for research and commercial robots. We investigate the cloud robotics paradigm as an enabler to a series of applications and devices and question how the insertion of network and cloud technologies into such solutions might a ect the interaction between a robot and a human operating it and what are the limiting requirements for cloud-based solutions. We propose a reference architecture for cloud robotics paired with an integrated network solution to allow for uninterrupted connectivity in mobile robotics applications. Furthermore, we present an open communication framework to link robots and cloud platforms, and that suits a large range of applications. Finally, we introduce a methodology for cloud robotics implementation based on open-source software and commercial o-the-shelf devices. Such a methodology leverages our communication framework and provides a common standard that allows reproducing and benchmarking di erent cloud robotics works. Our methodology and communication framework are validated considering di erent applications and multiple cloud con gurations, showing the suitability of our approach and providing insight for other researchers and practitioners
dc.description.resumoO advento do paradigma da robótica em nuvem tem o potencial de habilitar e impactar uma nova geração de dispositivos robóticos inteligentes. Este paradigma permite que robôs se comuniquem entre si e com plataformas remotas de computação para compartilhar
dc.description.sponsorshipFundação Coordenação de Aperfeiçoamento de Pessoal de Nível Superior (CAPES)
dc.formatText
dc.identifier.urihttp://repositorio.ufes.br/handle/10/15209
dc.languageeng
dc.publisherUniversidade Federal do Espírito Santo
dc.publisher.countryBR
dc.publisher.courseDoutorado em Engenharia Elétrica
dc.publisher.departmentCentro Tecnológico
dc.publisher.initialsUFES
dc.publisher.programPrograma de Pós-Graduação em Engenharia Elétrica
dc.rightsopen access
dc.subjectEngenharia elétrica
dc.subjectRobotica em nuvem
dc.subjectROS
dc.subjectSistemas ciber-fsicos
dc.subjectDispositivos assistivos
dc.subjectNavegacao autonoma
dc.subjectComunicacao sem fio
dc.subjectCloud robotics
dc.subjectCyber-physical systems
dc.subjectAssistive devices
dc.subjectAutonomous navigation
dc.subjectWireless communication
dc.subject.br-rjbnsubject.br-rjbn
dc.subject.cnpqEngenharia Elétrica
dc.titleA methodology for cloud robotics implementation based on open-source software : from human-robot interaction to autonomous applications
dc.title.alternativeA methodology for cloud robotics implementation based on open-source software: from human-robot interaction to autonomous applications
dc.typedoctoralThesis
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