RoFIOS - Flexible Full-Stack Software Solution for Metamorphic
Robots

D 2023

RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots

MRÁZEK, Jan and Jiří BARNAT

Basic information

Original name

RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots

Authors

MRÁZEK, Jan (203 Czech Republic, belonging to the institution) and Jiří BARNAT (203 Czech Republic, belonging to the institution)

Edition

Auckland, New Zealand, 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), p. 1-8, 8 pp. 2023

Publisher

IEEE

Other information

Language

English

Type of outcome

Stať ve sborníku

Field of Study

10201 Computer sciences, information science, bioinformatics

Country of publisher

United States of America

Confidentiality degree

není předmětem státního či obchodního tajemství

Publication form

electronic version available online

RIV identification code

RIV/00216224:14330/23:00131780

Organization unit

Faculty of Informatics

ISBN

979-8-3503-2069-5

ISSN

DOI

http://dx.doi.org/10.1109/CASE56687.2023.10260586

Keywords in English

Computer aided software engineering;Service robots;Full stack;Control systems;Software;Hardware;Libraries

Abstract

V originále

Smart distributed robotic systems form an essential technology for Industry 4.0 as they provide extensive capabilities in the field of manufacturing. Such systems can be built using self-assembling metamorphic robots, which are constantly growing in popularity and are a vivid research area. Yet, surprisingly, the research communities seem to be somewhat split into the software and hardware side of the technology. In this paper, we address the gap between the community dealing with low-level hardware design and control of the physical robots and the community dealing with the software aspects of such robotic systems, including the issues of trust, adaptability, or usefulness. We present a complete software stack that addresses the needs of metamorphic robots and allows for adapting state-of-the-art solutions to control the whole metamorphic system. These include, e.g., a scenario in which we achieve a trustworthy digital twinning or seamlessly distributed interoperation of local and cloud control of the system. Moreover, we demonstrate the feasibility of our solution on top of the existing RoFI metamorphic hardware platform.

Links

EF16_019/0000822, research and development project

Name: Centrum excelence pro kyberkriminalitu, kyberbezpečnost a ochranu kritických informačních infrastruktur

MUNI/A/1081/2022, interní kód MU

Name: Modelování, analýza a verifikace (2023)

Investor: Masaryk University

Citovat

MRÁZEK, Jan and Jiří BARNAT. RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots. Online. In 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE). Auckland, New Zealand: IEEE, 2023, p. 1-8. ISBN 979-8-3503-2069-5. Available from: https://dx.doi.org/10.1109/CASE56687.2023.10260586.

@inproceedings{2317897,
   author = {Mrázek, Jan and Barnat, Jiří},
   address = {Auckland, New Zealand},
   booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
   doi = {http://dx.doi.org/10.1109/CASE56687.2023.10260586},
   keywords = {Computer aided software engineering;Service robots;Full stack;Control systems;Software;Hardware;Libraries},
   howpublished = {elektronická verze "online"},
   language = {eng},
   location = {Auckland, New Zealand},
   isbn = {979-8-3503-2069-5},
   pages = {1-8},
   publisher = {IEEE},
   title = {RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots},
   year = {2023}
}

TY  - JOUR
ID  - 2317897
AU  - Mrázek, Jan - Barnat, Jiří
PY  - 2023
TI  - RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots
PB  - IEEE
CY  - Auckland, New Zealand
SN  - 9798350320695
KW  - Computer aided software engineering;Service robots;Full stack;Control systems;Software;Hardware;Libraries
N2  - Smart distributed robotic systems form an essential technology for Industry 4.0 as they provide extensive capabilities in the field of manufacturing. Such systems can be built using self-assembling metamorphic robots, which are constantly growing in popularity and are a vivid research area. Yet, surprisingly, the research communities seem to be somewhat split into the software and hardware side of the technology. In this paper, we address the gap between the community dealing with low-level hardware design and control of the physical robots and the community dealing with the software aspects of such robotic systems, including the issues of trust, adaptability, or usefulness. We present a complete software stack that addresses the needs of metamorphic robots and allows for adapting state-of-the-art solutions to control the whole metamorphic system. These include, e.g., a scenario in which we achieve a trustworthy digital twinning or seamlessly distributed interoperation of local and cloud control of the system. Moreover, we demonstrate the feasibility of our solution on top of the existing RoFI metamorphic hardware platform.
ER  -

MRÁZEK, Jan and Jiří BARNAT. RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots. Online. In \textit{2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)}. Auckland, New Zealand: IEEE, 2023, p.~1-8. ISBN~979-8-3503-2069-5. Available from: https://dx.doi.org/10.1109/CASE56687.2023.10260586.

Detailed Information on Publication Record