E-resources
-
Takase, Hideki; Mori, Tomoya; Takagi, Kazuyoshi; Takagi, Naofumi
Journal of Information Processing, 2020, 2020-00-00, 20200101, Volume: 28Journal Article
The Robot Operating System (ROS) has attracted attention as a design platform for robot software development. One of the problems of ROS is that it is necessary to employ high-performance and power-hunger devices since ROS requires a Linux environment for operation. This paper proposes a novel solution called mROS, which is a lightweight runtime environment of ROS nodes, to execute robot software components on mid-range embedded devices. mROS consists of a real-time operating system (RTOS) and a TCP/IP protocol stack to provide a tiny ROS communication library. It provides connectivity from the edge node to the host and other nodes through the native ROS protocol. Additionally, we design mROS APIs that are compatible with ROS 1. Therefore, native ROS nodes can be ported from Linux-based systems to RTOS-based systems as mROS nodes. Experimental results confirmed that mROS meets the performance requirement for practical applications. Moreover, we showed the size of the library constituting mROS is small for target embedded devices. We further conducted a case study to validate the portability of mROS from ROS nodes. Our work is expected to contribute to the power saving and real-time performance enhancement of mobile robot systems.
![loading ... loading ...](themes/default/img/ajax-loading.gif)
Shelf entry
Permalink
- URL:
Impact factor
Access to the JCR database is permitted only to users from Slovenia. Your current IP address is not on the list of IP addresses with access permission, and authentication with the relevant AAI accout is required.
Year | Impact factor | Edition | Category | Classification | ||||
---|---|---|---|---|---|---|---|---|
JCR | SNIP | JCR | SNIP | JCR | SNIP | JCR | SNIP |
Select the library membership card:
If the library membership card is not in the list,
add a new one.
DRS, in which the journal is indexed
Database name | Field | Year |
---|
Links to authors' personal bibliographies | Links to information on researchers in the SICRIS system |
---|
Source: Personal bibliographies
and: SICRIS
The material is available in full text. If you wish to order the material anyway, click the Continue button.