RoboKube：为机器人领域的云原生演进奠定新基础
RoboKube: Establishing a New Foundation for the Cloud Native Evolution in Robotics
AI总结：
本文针对机器人领域云原生演进需求，提出基于K8s生态的自适应框架RoboKube，搭建跨设备-云的统一平台部署云化ROS应用，解决异构环境网络问题，并通过遥操作测试床案例验证了可行性。
摘要：
云原生技术正逐步向物联网（IoT）和信息物理系统领域拓展，机器人技术是其中的重要应用领域。本文从学术文献和产业实践两个维度，梳理了机器人领域的云化实践。我们提出了RoboKube，这是一个基于Kubernetes（K8s）生态的自适应框架，旨在跨设备-云连续体搭建统一平台，用于部署云化的机器人操作系统（ROS）驱动的应用，推动机器人领域的云原生演进。我们从平台和应用双重视角，研究了利用云原生技术对ROS应用进行现代化改造的流程，同时还解决了异构环境下的网络搭建难题。本文旨在为开发者和研究人员提供指引，围绕容器化策略、ROS节点分布与集群、部署方案给出见解。为验证所提方法的可行性，我们开展了一项包含遥操作测试床云化的案例研究。
英文摘要：
Cloud native technologies have been observed to expand into the realm of Internet of Things (IoT) and Cyber-physical Systems, of which an important application domain is robotics. In this paper, we review the cloudification practice in the robotics domain from both literature and industrial perspectives. We propose RoboKube, an adaptive framework that is based on the Kubernetes (K8s) ecosystem to set up a common platform across the device-cloud continuum for the deployment of cloudified Robotic Operating System (ROS) powered applications, to facilitate the cloud native evolution in robotics. We examine the process of modernizing ROS applications using cloud-native technologies, focusing on both the platform and application perspectives. In addition, we address the challenges of networking setups for heterogeneous environments. This paper intends to serves as a guide for developers and researchers, offering insights into containerization strategies, ROS node distribution and clustering, and deployment options. To demonstrate the feasibility of our approach, we present a case study involving the cloudification of a teleoperation testbed.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
