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FogROS2 使用 ROS 2 的云和雾机器人的自适应和可扩展平台

FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2 Abstract— Mobility, power, and price points often dictate that robots do not have sufficient computing power on board to run modern robot algorithms at desired rates. Cloud computing providers such as AWS, GCP, and Azure offer immense computing power on demand, but tapping into that power from a robot is non-trivial. In this paper, we present FogROS2, an easy-to-use, open-source platform to facilitate cloud and fog robotics that is compatible with the emerging Robot Operating System 2 (ROS 2) standard. FogROS 2 provisions a cloud computer, deploys and launches ROS 2 nodes to the cloud computer, sets up secure networking between the robot and cloud, and starts the application running. FogROS 2 is completely redesigned and distinct from its predecessor to support ROS 2 applications, transparent video compression and communication, improved performance and security, support for multiple cloud-computing providers, and remote monitoring and visualization. We demonstrate in example applications that the performance gained by using cloud computers can overcome the network latency to significantly speed up robot performance. In examples, FogROS 2 reduces SLAM latency by 50%, reduces grasp planning time from 14s to 1.2s, and speeds up motion planning 28x. When compared to alternatives, FogROS 2 reduces network utilization by up to 3.8x. FogROS2, source, examples, and documentation is available at github.com/BerkeleyAutomation/FogROS2.

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简单介绍下:云计算

传统模式下,企业建立一套IT系统不仅仅需要购买硬件等基础设施,还有买软件的许可证,需要专门的人员维护。当企业的规模扩大时还要继续升级各种软硬件设施以满足需要。对于企业来说,计算机等硬件和软件本身并非他们真正需要的,它们仅仅是完成工作、提供效率的工具而已。对个人来说,我们想正常使用电脑需要安装许多软件,而许多软件是收费的,对不经常使用该软件的用户来说购买是非常不划算的。可不可以有这样的服务,能够提供我们需要的所有软件供我们租用?这样我们只需要在用时付少量“租金”即可“租用”到这些软件服务,为我们节省许多购买软硬件的资金。

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“边缘”必须“盘活”:解读边缘云发展路线

回顾IT产业发展史,自通用计算机诞生至今,算力和处理的分布表现出了在集中式架构和分布式架构之间交替循环的特征,技术进步推动性能提升、成本降低,上一代计算模式普及驱动数据量和计算需求增加,打破既有的成本与效益平衡,进而进入新一轮的周期。每个周期大概是二十年左右的时间:1960-1980——通用计算机诞生伊始,采用基于大型计算机的集中式计算模式,通过分时技术服务于多终端,架构趋向于集中;1980-2000——集成电路技术推动计算机体积缩小、性能提升,PC普及,客户机通过局域网与服务器相连,架构趋向于分散;2000-2020——基于虚拟化、分布式计算等技术,云计算实现随时随地、按需从资源共享池中获取所需资源,架构趋向于集中;如今,5G叠加物联网,终端量和数据量增长,集中式云计算表现出瓶颈,算力开始向边缘侧迁移,因此可以合理地推测,2020年到2030年将会是边缘云计算从兴起到繁荣的关键十年。

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