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.
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© 2005 Springer-Verlag Berlin Heidelberg
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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
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DOI: https://doi.org/10.1007/11508380_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26918-2
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