Understanding the RoboEarth Clouda party with smart owls, big elephants, and twisted snakes

Mohanarajah Gajamohan, RoboEarth, ETH Zurich

RoboEarth Quick Facts• Objective: Building an Internet for Robots• Funding: EU 7th Framework, ~4 mil. Euro
• 6 Partners: TUM, Uni. Stuttgart, TU/e, ETHZ,Uni. Zaragoza, Philips

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The RoboEarth Team

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The Building Blocks of theRoboEath Cloud• Language• Storage• Computation4

RoboEarth Language

M. Tenorth, A. C. Perzylo, R. Lafrenz, and M. Beetz, “The roboearth language: Representing andexchanging knowledge about actions, objects, and environments,” in Robotics andAutomation (ICRA), 2012 IEEE International Conference on, 2012, pp. 1284–1289.

RoboEarth Language - Challenges and Solutions
How to represent?
KnowRob Ontology: OWL-based
semantic representation

What to share?
Object Models
Environment Maps
Action Recipes

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How to Reason?
KnowRob: Knowledge
Processing Framework

How to Execute?
CRAM: Cognitive Robotics
abstract knowledge

for details visit:http://knowrob.org

Action Recipes

Neo: [aiming at an helicopter] Can you fly that thing?
Trinity: Not yet. [picks the phone, calls Tank]
Trinity: Tank, I need a pilot program for a B-212 helicopter.
[Tank loads the program in Trinity's brain]
Trinity: [to Neo] Let's go.
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Representation-Action Recipes• Highlights• Ability to reason about
the applicability• Ability to adapt

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Representation-Action Recipes-Demo

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RoboEarth Storage

RoboEarth Storage
HDFS Fuse
Hadoop Distributed file system

HBase

Sesame Server(OWL repo.)

Web Interface (humans) / RESTful API (robot)

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RoboEarth Cloud Engine( a.k.a Rapyuta )D. Hunziker, M. Gajamohan, M. Waibel, and R. D’Andrea, “Rapyuta: The RoboEarth Cloud Engine,”
in Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), Karlsruhe, Germany, 2013.

More challenges along the way...
I wish RoboEarth
did some processing..

Are you serious?

Can I join too?

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Something missing?
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The Complete Picture!
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Turtlebot: Internet Edition
ASUS Xtion PRO (~200$)

ASUS USB-N53 (35$)

ODROID U2 (~90$)

connectivity ~90Mbps

16Task: ETH Zurich office, Amazon Ireland server,
map it in real time!

Turtlebot: Internet Edition17

Details

✓Secure, Light weight, ROS compatible computing
environments with Linux Containers
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Details
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Details 

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Other use cases• Robot Networking
MasterTask Set
RobotRobotI
RobotI

RobotEPI
RobotI• rosbridge like functionality• multi master functionality
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Ongoing Work - Computation• repo-server• private virtual network• public instance24Conclusion• Discussed the core components• RoboEarth Language• RoboEarth Storage• RoboEarth Cloud Engine• More details• http://roboearth.org/software-components

25Thank you for you attention!
• Cloud Robotics Workshop

http://www.roboearth.org/iros2013•Looking for developers, gajan@ethz.ch26