Safety-Critical Edge Robotics Architecture with Bounded End-to-End Latency
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arXiv
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| Main Authors: | , , , , , , , |
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| Format: | Preprint |
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2024
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| _version_ | 1866911928509530112 |
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| author | Gala, Gautam Unte, Tilmann Maia, Luiz Kühbacher, Johannes Kadusale, Isser Alkoudsi, Mohammad Ibrahim Fohler, Gerhard Altmeyer, Sebastian |
| author_facet | Gala, Gautam Unte, Tilmann Maia, Luiz Kühbacher, Johannes Kadusale, Isser Alkoudsi, Mohammad Ibrahim Fohler, Gerhard Altmeyer, Sebastian |
| contents | Edge computing processes data near its source, reducing latency and enhancing security compared to traditional cloud computing while providing its benefits. This paper explores edge computing for migrating an existing safety-critical robotics use case from an onboard dedicated hardware solution. We propose an edge robotics architecture based on Linux, Docker containers, Kubernetes, and a local wireless area network based on the TTWiFi protocol. Inspired by previous work on real-time cloud, we complement the architecture with a resource management and orchestration layer to help Linux manage, and Kubernetes orchestrate the system-wide shared resources (e.g., caches, memory bandwidth, and network). Our architecture aims to ensure the fault-tolerant and predictable execution of robotic applications (e.g., path planning) on the edge while upper-bounding the end-to-end latency and ensuring the best possible quality of service without jeopardizing safety and security. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_14391 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Safety-Critical Edge Robotics Architecture with Bounded End-to-End Latency Gala, Gautam Unte, Tilmann Maia, Luiz Kühbacher, Johannes Kadusale, Isser Alkoudsi, Mohammad Ibrahim Fohler, Gerhard Altmeyer, Sebastian Robotics Distributed, Parallel, and Cluster Computing Emerging Technologies D.2.11; C.4; J.7 Edge computing processes data near its source, reducing latency and enhancing security compared to traditional cloud computing while providing its benefits. This paper explores edge computing for migrating an existing safety-critical robotics use case from an onboard dedicated hardware solution. We propose an edge robotics architecture based on Linux, Docker containers, Kubernetes, and a local wireless area network based on the TTWiFi protocol. Inspired by previous work on real-time cloud, we complement the architecture with a resource management and orchestration layer to help Linux manage, and Kubernetes orchestrate the system-wide shared resources (e.g., caches, memory bandwidth, and network). Our architecture aims to ensure the fault-tolerant and predictable execution of robotic applications (e.g., path planning) on the edge while upper-bounding the end-to-end latency and ensuring the best possible quality of service without jeopardizing safety and security. |
| title | Safety-Critical Edge Robotics Architecture with Bounded End-to-End Latency |
| topic | Robotics Distributed, Parallel, and Cluster Computing Emerging Technologies D.2.11; C.4; J.7 |
| url | https://arxiv.org/abs/2406.14391 |