UMBRELLA Collaborative Robotics Testbed and IoT Platform

摘要

This paper provides details of the collaborative robotics testbed platform that has been developed within the UMBRELLA project. The testbed is part of a larger open Industrial IoT testbed which is currently being deployed in the UK. The aim of the testbed is to permit flexible experimentation using different end devices (including smart city sensing and robot nodes) to evaluate algorithms or new practical application scenarios. For the collaborative robotics testbed this relates to warehouse robotics, which can move pallets of different sizes and shapes. The testbed also includes simulator facilities for validation of algorithms prior to deployment on the robot nodes. The nodes support a rich set of sensors, actuators, and wireless communication technologies. The software architecture is based on Docker containers and ROS2 DDS middleware for flexible and extensible evolution to support future sensors or network technologies. This will be provided as an open testbed to support research, experimentation and evaluation of swarm robotics and other Industrial IoT use-cases.