Push communication for network robot services and RSi/RTM interoperability

M. Narita, Y. Murakawa, Chuzo Akiguchi, Y. Kato, Toru Yamaguchi
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引用次数: 13

Abstract

We, RSi (Robot Service Initiative) organization, have been developing a common network based robot service platform, named RSNP (Robot Service Network Protocol) since 2004. As spreading actual use of RSNP, strong requirements are raised on the push communication in limited conditions such as fewer operators and/or limited resources, and on the robot service integration with various devices supported by the other robot platform, such as RTM (Robot Technology Middleware), particularly. In this paper, we clarified these requirements and solved them by pseudo PUSH communication method, by introducing multimedia/sensor profile and by building RSi/RTM gateway. Moreover, we evaluate the effectiveness of the proposed scheme through the performance experiments. And also these results have been also reflected in RSNP 2.0, the latest specification.
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推进网络机器人业务通信和RSi/RTM互操作性
自2004年以来,我们RSi(机器人服务倡议)组织一直在开发一个基于通用网络的机器人服务平台,名为RSNP(机器人服务网络协议)。随着RSNP在实际应用中的推广,对操作员少、资源有限等有限条件下的推送通信提出了更高的要求,特别是对机器人与其他机器人平台(如RTM (robot Technology Middleware))所支持的各种设备的服务集成提出了更高的要求。本文明确了这些需求,并通过引入多媒体/传感器配置文件和构建RSi/RTM网关,采用伪PUSH通信方式解决了这些需求。此外,我们还通过性能实验来评估该方案的有效性。这些结果也反映在最新的规范RSNP 2.0中。
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