Catering to Real-Time Requirements of Cloud-Connected Mobile Manipulators
| dc.contributor.author | Walter, Christoph | |
| dc.contributor.author | Scholle, Julian-Benedikt | |
| dc.contributor.author | Elkmann, Norbert | |
| dc.date.accessioned | 2021-04-23T09:25:50Z | |
| dc.date.available | 2021-04-23T09:25:50Z | |
| dc.date.issued | 2019 | |
| dc.description.abstract | In this contribution, we explore real-time requirements of mobile manipulators, a class of intelligent robots, in the context of the ongoing fast-robotics ( https://de.fast-zwanzig20.de/industrie/fast-robotics/ ) project. The project aims at implementing such robots based on (edge-) cloud-services using wireless communication in order to make them more capable and efficient. Instead of trying to universally achieve hard real-time in such a system, we present a mixed real-time approach with an application centered fault tolerance scheme based on transition points and pre-computed alternate plans. We argue that deliberatively addressing uncertainties in timing is similarly important than handling uncertainties e.g. in perception for future intelligent robots. | de |
| dc.identifier.doi | 10.1007/s13218-019-00581-6 | |
| dc.identifier.pissn | 1610-1987 | |
| dc.identifier.uri | http://dx.doi.org/10.1007/s13218-019-00581-6 | |
| dc.identifier.uri | https://dl.gi.de/handle/20.500.12116/36229 | |
| dc.publisher | Springer | |
| dc.relation.ispartof | KI - Künstliche Intelligenz: Vol. 33, No. 2 | |
| dc.relation.ispartofseries | KI - Künstliche Intelligenz | |
| dc.subject | Architecture | |
| dc.subject | Edge computing | |
| dc.subject | Real-time | |
| dc.subject | Robotics | |
| dc.subject | Time-aware | |
| dc.subject | Ultra-low-latency | |
| dc.subject | Wireless | |
| dc.title | Catering to Real-Time Requirements of Cloud-Connected Mobile Manipulators | de |
| dc.type | Text/Journal Article | |
| gi.citation.endPage | 150 | |
| gi.citation.startPage | 143 |