Kubernetesベースのエッジアーキテクチャによるリソース制約付き飛行ロボットのモデル予測制御
A Kubernetes-Based Edge Architecture for Controlling the Trajectory of a Resource-Constrained Aerial Robot by Enabling Model Predictive Control
Kubernetesでオーケストレーションされたエッジコンピューティング環境を構築し、計算資源が限られた小型ドローンの軌道をモデル予測制御でリアルタイムに制御する手法を実装・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
In recent years, cloud and edge architectures have gained tremendous focus for offloading computationally heavy applications. From machine learning and Internet of Thing (IOT) to industrial procedures and robotics, cloud computing have been used extensively for data processing and storage purposes, thanks to its "infinite" resources. On the other hand, cloud computing is characterized by long time delays due to the long distance between the cloud servers and the machine requesting the resources. In contrast, edge computing provides almost real-time services since edge servers are located significantly closer to the source of data. This capability sets edge computing as an ideal option for real-time applications, like high level control, for resource-constrained platforms. In order to utilize the edge resources, several technologies, with basic ones as containers and orchestrators like Kubernetes, have been developed to provide an environment with many features, based on each application's requirements. In this context, this works presents the implementation and evaluation of a novel edge architecture based on Kubernetes orchestration for controlling the trajectory of a resource-constrained Unmanned Aerial Vehicle (UAV) by enabling Model Predictive Control (MPC).
