Requirements for Software Defined Robot and its Implementation

摘要

Software-defined x (SDx) is being developed in various fields currently operated for hardware x, in which x may be a radio, a network, a vehicle, manufacturing, or a robot. Although a software-defined robot (SDR) has been mentioned in robotics, the SDR remains in the conceptual stage. In this study, the existing contents of SDx are examined and then the definition of SDR is presented. The advantages of using an SDR are identified, and the requirements for an SDR are provided. The relationship between the requirements and the information model specified in standards being developed by ISO TC299 are explored and discussed. The effectiveness of the information-model-based SDR is validated by implementing it using real TurtleBot and its Gazebo simulation model. For future studies on the SDR, various issues with the simulator that are determined during the implementation are provided.