Robopedia: Leveraging Sensorpedia for web-enabled robot control

摘要

There is a growing interest in building Internet-scale sensor networks that integrate sensors from around the world into a single unified system. In contrast, robotics application development has primarily focused on building specialized systems. These specialized systems take scalability and reliability into consideration, but generally neglect exploring the key components required to build a large scale system. Integrating robotic applications with Internet-scale sensor networks will unify specialized robotics applications and provide answers to large scale implementation concerns. We focus on utilizing Internet-scale sensor network technology to construct a framework for unifying robotic systems. Our framework web-enables a surveillance robot's sensor observations and provides a web-interface to the robot's actuators. This lets robots seamlessly integrate into web applications. In addition, the framework eliminates most prerequisite robotics knowledge, allowing for the creation of general web-based robotics applications. The framework also provides mechanisms to create applications that can interface with any robot. Frameworks such as this one are key to solving large scale mobile robotics implementation problems. We provide an overview of previous Internet-scale sensor networks, Sensorpedia (an ad-hoc Internet-scale sensor network), our framework for integrating robots with Sensorpedia, two applications which illustrate our frameworks ability to support general web-based robotic control, and offer experimental results that illustrate our framework's scalability, feasibility, and resource requirements.