空中ロボットの遠隔モデル予測制御を実現するDockerとKubernetesベースのエッジアーキテクチャの比較
Comparison between Docker and Kubernetes based Edge Architectures for Enabling Remote Model Predictive Control for Aerial Robots
UAVの軌道制御を遠隔で行うため、DockerコンテナベースとKubernetesベースの2つのエッジアーキテクチャをROS上で構築し、シミュレーションで性能を比較評価した。
著者: Achilleas Santi Seisa, Sumeet Gajanan Satpute, George Nikolakopoulos
分類: cs.RO
原文アブストラクト
Edge computing is becoming more and more popular among researchers who seek to take advantage of the edge resources and the minimal time delays, in order to run their robotic applications more efficiently. Recently, many edge architectures have been proposed, each of them having their advantages and disadvantages, depending on each application. In this work, we present two different edge architectures for controlling the trajectory of an Unmanned Aerial Vehicle (UAV). The first architecture is based on docker containers and the second one is based on kubernetes, while the main framework for operating the robot is the Robotic Operating System (ROS). The efficiency of the overall proposed scheme is being evaluated through extended simulations for comparing the two architectures and the overall results obtained.
