| Titre : | ROS-based Solution for Robotic Services in Cloud Computing |
| Auteurs : | Radhia Bouziane, Auteur ; Sadek Labib Terrissa, Directeur de thèse |
| Type de document : | Thése doctorat |
| Editeur : | Biskra [Algérie] : Faculté des Sciences Exactes et des Sciences de la Nature et de la Vie, Université Mohamed Khider, 2022 |
| Langues: | Français |
| Résumé : |
Abstract Robot Operating System (ROS) is becoming a widely-used environment for devel- oping robot software systems. It provides unique features such as message-passing between processes and code reuse between robots. The new trend in ROS-based robotic systems is facing the development and delivery of effective services by com- bining the advantages of both cloud robotics and web services. Cloud robotics is the way that allows robots to overcome their limitations of pro- cessing and knowledge by boosting computational and cognitive capabilities. On the other hand, as an implementation of Service-Oriented Architecture (SOA), web services allow mainly different ROS codes to be discovered over the internet for their reuse. However, the characterization, description, and discovery of the ROS service capability for the offered robotic functionality are still issues that are not fully ad- dressed. In this context, we focus in this thesis on developing an architecture for robotic software provisioning to both software developers and robots by exploiting the op- portunities of ROS, web services, and cloud robotics. We propose a complete SOA approach for cloud robotics, in which ROS-based robotic tasks are defined as web services. The approach focuses on defining the service cycle process of describing, discovering, and selecting services. Two characterizations for ROS web services are proposed. The service characterizations describe the semantic representation of the robot task from ROS itself. In each case, we present a strategy that allows users to discover the relevant robotic service that can match their queries and robots. Keywords: Robot Operating System (ROS), Cloud robotics, Service-Oriented Archi- tecture (SOA), Web services, Semantic web services, Robotic service discovery. |
| Sommaire : |
Contents List of Figures ix List of Tables xi List of Listings xii List of Abbreviations xiii 1 Introduction 1 1.1 Context . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2 1.2 Problem statements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.3 Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3 1.4 Thesis structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 2 Fundamentals 6 2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.2 World of robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 2.3 Robot Operating System . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3.2 ROS concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 2.3.3 Difficulty in learning ROS . . . . . . . . . . . . . . . . . . . . . 11 2.4 Service-Oriented Architecture and Web services . . . . . . . . . . . . 12 2.4.1 Service-Oriented Architecture (SOA) . . . . . . . . . . . . . . 12 2.4.2 Web services . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.4.3 Semantic Web services . . . . . . . . . . . . . . . . . . . . . . . 14 2.5 Opportunities of cloud computing . . . . . . . . . . . . . . . . . . . . 15 2.5.1 Cloud computing basics . . . . . . . . . . . . . . . . . . . . . . 15 2.5.2 SOA and cloud computing . . . . . . . . . . . . . . . . . . . . 17 2.6 Cloud Robotics: An overview . . . . . . . . . . . . . . . . . . . . . . . 18 2.7 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 vi 3 Service-Oriented Robotic Architectures 21 3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 3.2 Service-oriented robotic models . . . . . . . . . . . . . . . . . . . . . . 22 3.2.1 Robot as a Service (RaaS) . . . . . . . . . . . . . . . . . . . . . 23 3.2.2 Cloud-enabled Robotic Services (CRS) . . . . . . . . . . . . . 25 3.2.3 Multi-Robot-based Services (MRS) . . . . . . . . . . . . . . . . 27 3.2.4 Robotic Service Composition Middlewares (RSCM) . . . . . . 29 3.3 Description, discovery, and applications of robotic services . . . . . . 29 3.4 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 3.4.1 Deployment model and Service Level Agreements . . . . . . . 36 3.4.2 Representation and description of robotic services . . . . . . . 37 3.4.3 Deficiencies in SOA implementation: Robotic service discov- ery gap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 3.4.4 Robot Operating System and case studies . . . . . . . . . . . . 39 3.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 4 Robotic Services as a Service approach 41 4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.2 Highlights . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 4.2.1 Robotic Services as a Service scope . . . . . . . . . . . . . . . . 42 4.2.2 Virtualization concept . . . . . . . . . . . . . . . . . . . . . . . 43 4.3 Robotic Services as a Service architecture . . . . . . . . . . . . . . . . 44 4.3.1 Overall system . . . . . . . . . . . . . . . . . . . . . . . . . . . 45 4.3.2 RSaaS virtualization and service model . . . . . . . . . . . . . 46 4.3.3 RSaaS cloud actors . . . . . . . . . . . . . . . . . . . . . . . . . 48 4.3.4 RSaaS life cycle process for service provisioning . . . . . . . . 50 4.4 Experimental settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52 4.4.1 Technical robotic tools . . . . . . . . . . . . . . . . . . . . . . . 52 4.4.2 APIs and ROS packages . . . . . . . . . . . . . . . . . . . . . . 54 4.5 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56 5 ROS Web Service description and discovery 57 5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.2 General scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58 5.2.1 Motivation and related works . . . . . . . . . . . . . . . . . . . 58 5.2.2 Message and service types in ROS . . . . . . . . . . . . . . . . 59 vii 5.2.3 Distinguishing Robot-Service compatibility . . . . . . . . . . . 59 5.3 ROS Web Service (ROS-WS): Requirements and discovery . . . . . . 60 5.3.1 ROS-WS requirements . . . . . . . . . . . . . . . . . . . . . . . 61 5.3.2 ROS-WS discovery . . . . . . . . . . . . . . . . . . . . . . . . . 64 5.4 ROS Semantic Web Service (ROS-SWS): Description and discovery . 68 5.4.1 OWL-S Profile extension for ROS-SWS . . . . . . . . . . . . . 68 5.4.2 Mapping ROS messages to Inputs/Outputs . . . . . . . . . . 70 5.4.3 ROS capabilities and properties: Domain ontology . . . . . . 70 5.4.4 Search engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 5.5 Case study . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 5.5.1 ROS Web Service experimentation . . . . . . . . . . . . . . . . 72 5.5.2 Search evaluation metrics: Precision and recall . . . . . . . . . 82 5.5.3 ROS-WS search results . . . . . . . . . . . . . . . . . . . . . . . 82 5.5.4 ROS-SWS search results . . . . . . . . . . . . . . . . . . . . . . 88 5.6 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89 6 Conclusion and Future Work 91 6.1 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92 6.2 FutureWork . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 6.2.1 Quality of Service and ROS2 . . . . . . . . . . . . . . . . . . . 93 6.2.2 Resource allocation in robotic service composition . . . . . . . 93 6.2.3 Fog computing in robotic service provisioning: Fog Robotics . 93 Bibliography 96 viii |
| En ligne : | http://thesis.univ-biskra.dz/id/eprint/5748 |
Disponibilité (1)
| Cote | Support | Localisation | Statut |
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| TINF/177 | Théses de doctorat | bibliothèque sciences exactes | Consultable |
