Private Cloud Deployment Model in Open-Source Mobile Robots Ecosystem

摘要

The focus of this paper is on secure cloud service platform for mobile robots ecosystem. Especially the emphasis is based on the scope of open-source software frameworks such as Apache Hadoop which offers numerous possibilities to employ open-source designing tools and deployment models for private cloud computing planning. This paper presents implementation of the OpenCRP (Open CloudRobotic Platform) locally-operated private cloud infrastructure and configuration methods by using Hadoop distributed file system (HDFS) for easing the ecosystem communications set-up in its entirety. For robot teleoperation, ROS (Robot Operating System) is used. The presented ecosystem utilizes security features for autonomous cloud robotic platform, software tools to manage user authentication and methods for large-scale robot-based data management and analysis. In addition to robot trial set-up of robot data storage and sharing, an ecosystem built with two low-cost mobile robots is presented.