Building Castles in the Sky

So what is Cloud Robotics ?

"Cloud Robotics" - As a new approach to robotics that takes advantage of the Internet as a resource for massively parallel computation and sharing of vast data resources.

- James Kuffner , Google IO 2010

Cloud Robotics recognizes the wide availability of networking, incorporates elements of open-source, open-access, and crowdsourcing to greatly extend earlier concepts of "Online Robots" and "Networked Robots".

Steve Cousins of Willow Garage aptly summarized the idea: "No robot is an island."

What if robots and automation systems were not limited by onboard computation, memory, or programming?

RoboEarth is a World Wide Web for Robots

• A giant network and database
• Repository where robots can share information and learn
• Autonomous learning

Putting together the puzzle

Language

How to represent?

What to share?

KnowRob Ontology:

OWL-based semantic representation

How to Execute?

Object Models

Environment Maps

Action Recipes

CRAM: Cognitive Robotics

abstract machine

Neo: [aiming at an helicopter] Can you fly that thing?

Trinity: Not yet. [picks the phone, calls Tank]

Trinity: Tank, I need a pilot program for a B-212 helicopter.

[Tank loads the program in Trinity's brain]

Trinity: [to Neo] Let's go.

How to Reason?

KnowRob: Knowledge

Processing Framework

Storage

Computation

The RoboEarth Cloud Engine - Rapyuta

• Distributed
• Hadoop- HBase
• Sesame Server
• OWL Repos
• Web Interface
• Humans
• Robos

How do i Do this ?

I need to process this task

Me too

What's in it for YOU ?

Why RoboEarth ?

Usage

The Challenge

Single or Multiple Machines

Turtlebot: Internet Edition

• One master node + ROSCore
• Multiple Robot Nodes
• Multiple Boxes for Computing Environmens
• Config file & rce-ros client
• Custom VPN Style Hybrid Networking
• Map Reduce
• Collaboration
• Public Cloud Style CLI

(Our Little Wall-E)

ASUS USB-N53 (35$)

ASUS XTion PRO (~200 $)

Odroid U2 (90$)

connectivity ~ 90 MBPS

Task: ETH Zurich office, Amazon Ireland server, map it in real time!

Put Today to Use

Join our mailing list : groups.google.com/d/forum/rapyuta

WiKi : www.rapyuta.org

• Open source - Github
• Easy setup
• Your Infrastructure, Public Clouds
• Public AMI, Multiple Configurations

Wiki and Community

• rapyuta.org/Install
• rapyuta.org/EC2_Public_AMI

Fork Us : github.com/IDSCETHZurich/rce

Contribue back to the Open Source Community - hackreward.com

DevZone

Building Blocks

• Almost Entirely In Python
• Perspective Broker Views, Groups, Auth, Control Instructions
• Twisted RPC for data intensive tasks
• Custom Code for LXC Automation (At some point we would move to standard wrappers / Docker)
• C/C++ bindings
• JavaScript

Communication

Diving In

External

• Web Sockets
• Asynchronous / Mobile networks
• DataRate

Internal

Twisted

• Administrative Perspective Broker
• Data Intensive - Twisted RPC (Master NOT Involved)

The Apponomy

• Standard ROS (Fuerte, Groovy)
• You could code in C/C++,Python , Java, Perl , Whatever YOU Love
• Minimal to No Changes to your code , It just works
• Add a simple JSON config file describing the layout, user groups, connects and interfaces , think of join-the-dots

Master

Think of the Puppet Master or Conductor at the Opera

• balance load
• manage users and groups
• control other components
• only one master

Computing Environment

• add remove nodes
• sandboxes and fully controllable, throttle able
• Lightweight
• upstart
• Networking configurations

Environment Process

• One per environment
• Add remove nodes
• add remove interfaces

So what really is Going on ?

Robot Process

• Manages connections to robots
• Multiple per node
• Basic Computation

Container Process

• Create destroy computing environments
• Superuser privilege
• One per computing node

Building Castles in the Sky - Rapyuta

About Me

Dhananjay Sathe

• dhananjaysathe@gmail.com
• twitter: @d_sathe
• github : dhananjaysathe
• facebook : dhananjaysathe

Core developer of the Cloud Engine

Love hacking and developing opensource projects

Love the outdoors

-Dhananjay Sathe