RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots
| Authors | |
|---|---|
| Year of publication | 2023 |
| Type | Article in Proceedings |
| Conference | 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE) |
| MU Faculty or unit | |
| Citation | |
| Doi | http://dx.doi.org/10.1109/CASE56687.2023.10260586 |
| Keywords | Computer aided software engineering;Service robots;Full stack;Control systems;Software;Hardware;Libraries |
| Description | Smart distributed robotic systems form an essential technology for Industry 4.0 as they provide extensive capabilities in the field of manufacturing. Such systems can be built using self-assembling metamorphic robots, which are constantly growing in popularity and are a vivid research area. Yet, surprisingly, the research communities seem to be somewhat split into the software and hardware side of the technology. In this paper, we address the gap between the community dealing with low-level hardware design and control of the physical robots and the community dealing with the software aspects of such robotic systems, including the issues of trust, adaptability, or usefulness. We present a complete software stack that addresses the needs of metamorphic robots and allows for adapting state-of-the-art solutions to control the whole metamorphic system. These include, e.g., a scenario in which we achieve a trustworthy digital twinning or seamlessly distributed interoperation of local and cloud control of the system. Moreover, we demonstrate the feasibility of our solution on top of the existing RoFI metamorphic hardware platform. |
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