Clone-based Cloud Robotics System for Robot Teleoperation

Robots are now able to assist humans in many demanding tasks. Teleoperation is one way to combine robot skills and human operator abilities, through remote automatic or manual control. However, modern applications require larger processing and memory resources than those currently available in most robotic systems. The main challenges associated with networked robots occur due to resource constraints, information and learning constraints, and communication constraints. In this paper we present our approach in dealing with teleoperation processes in multi-robot environments that attempt to tackle the Heterogeneity robot challenge. We have implemented clone-based cloud robotic platform (CCRP) which is designed to provide platform-as-a-service (PaaS) for the client robots. In this system, a virtual machine (VM) is assigned in a cloud for every
robot. The platform uses Robot Operating System (ROS) as a middleware environment for robot development. The result show that the response time in teleoperation was on average 240ms for Turtlebot robot and 273ms for NAO robot.