# Approaches and Challenges in Internet of Robotic Things
## 2 IoRT: An Overview
### Robotic and IoRT Enabling Technologies
#### 2.5.2 IoRT Enabling Technologies  
IoRT requires many technologies such as sensors and actuators, communication technologies, processing, data fusion techniques, environments, objects, virtual and augmented reality, VR, VC, orchestration, decentralized cloud, adaptation, ML, end-to-end operation, Internet technologies, safety and security frameworks, blockchain, etc. All of these technologies work together to complete various tasks collaboratively. The major IoRT \begin{table}
\begin{tabular}{l l} \hline \hline
**Type** & **Description** \\ \hline
**Cloud robotics** & Robots + cloud infrastructure \\ \hline
**Collaborative robotics** & Robot–human collaboration \\ \hline
**Cognitive robotics** & Robots use AI algorithms to learn and respond the complex tasks \\ \hline
**Fog robotics** & Robots use fog computing to process data and services \\ \hline
**Network robotics** & To complete a task, multiple robots collaborate and coordinate through networked communication \\ \hline
**Smart robotics** & AI + robots + ML + DL + cloud computing \\ \hline
**Swarm robotics** & Multiple robotic systems with physical robots \\ \hline \hline \end{tabular}
\end{table} 
Table 2: Types of robotics. Figure 6: Summary of IoRT application areas. enabling technologies are defined below, and Table 3 provides a survey on existing robotic technologies. **Actuators and sensors:** IoRT and IoT technologies obtain precise and accurate real-time data identification from sensors and actuators. The sensors and actuators are the fundamental gadgets that set the groundwork for the improvement of IoT and robotic systems. The present sensor industry focuses on 2D sensing information. However, with the upcoming IoRT boom, 2D sensing information might change to 4D [1, 33]. **AR and VR (digital twins):** Augmented and virtual reality are counter-reflections of each other. VR provides digital leisure in a real-life scenario. AR provides virtual objects as a cover for the real world. The latest example is Meta's \"meta-verse\", which merges virtual reality with physical reality and blurs the gap between our interactions online and in real life [4, 42]. **Voice recognition and control system:** For better HRIs, voice control and recognition systems play an important role. For HRI, the IoRT system must be able to communicate between humans and robotic things. Due to the critical nature of VR and VC, such technologies should be versatile and modular to remove the noise using information gathered from the robot's motions and expressions. In addition, the quality of the microphone and speech recognition procedures ought to be able to minimize noise. Multichannel systems with progressive methods such as side-lobe cancellers and feature-space noise clampdown should be included in IoRT systems [4, 43]. **AI and ML:** IoRT technology combines IoT, AI, cloud computing, and other techniques. Due to this, IoRT systems become highly competent in real time and improve the learning experience. These techniques are used in the various layers of the IoRT frameworks to give data and perceptions, as well as maximize the functionality of individual robotic things. Adapting ML and DL techniques and algorithms to IoT-enabled devices enhances the intelligence in IoRT. The primary topics of ML are computational learning and pattern recognition. This provides systems with the capability to acquire data by researching the construction of models to predict and assimilate datasets. In the next few years, ML may be able to replace human learning for data analysis and prediction [4, 5]. **Connectivity and communication:** Communication is the most necessary functionality of the IoRT system. Communication protocols are required to provide layer-by-layer information transmission. IoRT connectivity is preferred over wireless access methods. The new IoRT connectivity strategy permits pooled real-time computing and data stream exchange [19, 42, 44, 45].