Designing of a Network-Aware Cloud Robotic Sensor Observation Framework

This paper proposes a network-aware cloud networked robotic sensor observation framework based on the topic-based publisher/subscriber messaging paradigm. Cloud network robotics systems have some advantages in making use of rich computation or storage resources of clouds, low maintenance cost, and easy development of applications. But a problem occurs when systems that need fast feedback from application modules are run over networks with intermittent connection. In this framework, the placement of the robot application modules is changed according to the QoS provided by the physical network. We also propose a map cell-based robotic sensor observation algorithm that suits to the framework. A prototype system of a data center monitoring robot that is based on the proposed framework and algorithm is implemented and a preliminary experiment was carried out to demonstrate the benefit of the system. The experiment result shows that the performance of the data center monitoring could be improved and hot spots can be found faster by making the cloud networked robot network-aware.