A Service-Oriented Architecture for Virtualizing Robots in Robot-as-a-Service Clouds
Ref: CISTER-TR-140508 Publication Date: 25 to 28, Feb, 2014
A Service-Oriented Architecture for Virtualizing Robots in Robot-as-a-Service CloudsRef: CISTER-TR-140508 Publication Date: 25 to 28, Feb, 2014
Exposing software and hardware computing resources as ser- vices through a cloud is increasingly emerging in the recent years. This comes as a result of extending the service-oriented architecture (SOA) paradigm to virtualize computing resources. In this paper, we extend the paradigm of the SOA approach to virtualize robotic hardware and software resources to expose them as services through the Web. This al- lows non-technical users to access, interact and manipulate robots simply through a Web browser. The proposed RoboWeb system is based on a SOAP-based Web service middleware that binds robots computing re- sources as services and publish them to the end-users. We consider robots that operates with the Robotic Operating System (ROS), as it provides hardware abstraction that makes easier applications development. We de- scribe the implementation of RoboWeb and demonstrate how researchers can use it to interact remotely with the robots. We believe that this work consistently contributes to enabling remote robotic labs using the cloud paradigm.
the Conference on Architecture of Computing Systems (ARCS 2014).