Abstract
This paper describes a research project about robot control across a computing Grid, first step toward a Grid solution for generic process control. A computational Grid can significantly improve remote robot control. It can choose at any time the most suitable machine for each task, transparently run redundant computations for critical operations, adding fault tolerance, allowing robotic system sharing among remote partners.
We built a Grid spanning France and Italy and successfully controlled a navigating robot and a robotic arm. Our Grid is based on the GridRPC paradigm, the DIET environment and an IPSEC-based VPN. We turned some modules of robotic applications into Grid services. Finally we developed a high-level API, specializing the GridRPC paradigm for our purposes, and a semantics for quickly adding new Grid services.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Lombard, F., Nicod, J.-M., Quinson, M., Caron, E., Desprez, F., Suter, F.: A scalable approach to network enabled servers. In: Monien, B., Feldmann, R.L. (eds.) Euro-Par 2002. LNCS, vol. 2400, p. 907. Springer, Heidelberg (2002)
De Vivo, A., Sabatier, F., Vialle, S.: Grid programming for distributed remote robot control. In: 13th IEEE International Workshops on Enabling Technologies: Infrastructures for Collaborative Enterprises (WETICE-2004). Workshop on Emerging Technologies for Next Generation GRID, Modena, Italy (June 2004)
Foster, I., Kesselman, C., Doraswamy, N., Harkins, D.: Ipsec: The New Security Standard for the Inter- net, Intranets, and Virtual Private Networks. Prentice-Hall, Englewood Cliffs (1999)
Frangu, L., Chiculita, C.: A web based remote control laboratory. In: 6th World Multiconference on Systemics, Cybernetics and Informatics, Orlando, Florida (July 2002)
Matsuoka, S., Dongarra, J., Lee, C., Seymour, K., Nakada, H., Casanova, H.: Overview of gridrpc: A remote procedure call API for grid computing. In: Parashar, M. (ed.) GRID 2002. LNCS, vol. 2536, pp. 274–278. Springer, Heidelberg (2002)
Shen, S.H., Luo, R.C., Su, K.L., Tsai, K.H.: Networked intelligent robots through the internet: Issues and opportunities. Proceedings of IEEE Special Issue on Networked Intelligent Robots Through the Internet 91(3) (March 2003)
Siadat, A., Vialle, S.: Robot localization, using p-similar landmarks, optimized triangulation and parallel programming. In: 2nd IEEE International Symposium on Signal Processing and Information Technology, Marrakesh, Morocco (December 2002)
De Vivo, A., Vialle, S.: Robot control from remote computers through different communication networks. Internal Report (January 2003)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2005 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Vialle, S., De Vivo, A., Sabatier, F. (2005). A Grid Architecture for Comfortable Robot Control. In: Sloot, P.M.A., Hoekstra, A.G., Priol, T., Reinefeld, A., Bubak, M. (eds) Advances in Grid Computing - EGC 2005. EGC 2005. Lecture Notes in Computer Science, vol 3470. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11508380_36
Download citation
DOI: https://doi.org/10.1007/11508380_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26918-2
Online ISBN: 978-3-540-32036-4
eBook Packages: Computer ScienceComputer Science (R0)