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Paper ThAT10.4

Toris, Russell (WPI), Kammerl, Julius (Technische Universität München), Lu, David V. (Washington University in St. Louis), Lee, Jihoon (Yujin Robot Co.,Ltd), Jenkins, Odest Chadwicke (Brown University), Osentoski, Sarah (Robert Bosch LLC), Wills, Mitchell (Worcester Polytechnic Institute), Chernova, Sonia (Worcester Polytechnic Institute)

Robot Web Tools: Efficient Messaging for Cloud Robotics

Scheduled for presentation during the Regular session "Cloud Robotics" (ThAT10), Thursday, October 1, 2015, 09:15−09:30, Saal B4

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 19, 2019

Keywords Cloud Robotics, Software and Architecture, Human-Robot Interaction

Abstract

Since its official introduction in 2012, the Robot Web Tools project has grown tremendously as an open-source community, enabling new levels of interoperability and portability across heterogeneous robot systems, devices, and front-end user interfaces. At the heart of Robot Web Tools is the rosbridge protocol as a general means for messaging ROS topics in a client-server paradigm suitable for wide area networks, and human-robot interaction at a global scale through modern web browsers. Building from rosbridge, this paper describes our efforts with Robot Web Tools to advance: 1) human-robot interaction through usable client and visualization libraries for more efficient development of front-end human-robot interfaces, and 2) cloud robotics through more efficient methods of transporting high-bandwidth topics (e.g., kinematic transforms, image streams, and point clouds). We further discuss the significant impact of Robot Web Tools through a diverse set of use cases that showcase the importance of a generic messaging protocol and front-end development systems for human-robot interaction.

 

 

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