쿠버네티스 클러스터 기반 다수 로봇 원격 제어 및 관리
DC Field | Value | Language |
---|---|---|
dc.contributor.author | 구세완 | - |
dc.contributor.author | 윤동원 | - |
dc.date.accessioned | 2023-03-13T07:20:29Z | - |
dc.date.available | 2023-03-13T07:20:29Z | - |
dc.date.created | 2023-03-08 | - |
dc.date.issued | 2023-02 | - |
dc.identifier.issn | 1976-5622 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/hanyang/handle/2021.sw.hanyang/182530 | - |
dc.description.abstract | This paper proposes a method to remotely control and manage a Kubernetes-based multi-robot swarm efficiently while ensuring high availability of the robots’ internal controller modules. We evaluate the effectiveness of the proposed approach by experimenting with a self-balancing robot and robot arm. Each robot is configured as a worker node in a Kubernetes cluster. A master node is configured to remotely monitor their statuses and manage the cluster by running, stopping, and updating the controller module. We also develop a labeling module to automate the process of imprinting labels on all the robots in the cluster according to their hardware, software, and functions. A control module required for each robot is automatically deployed remotely, and the appropriate module for robot is selected when the control module is deployed. Furthermore, we experimentally evaluate a control feature designed to ensure high resource availability and fault tolerance. The Kubernetes system is configured to detect problems with the controllers of the self-balancing robots and to create new pods to solve these problems automatically. Our results demonstrate that multi-robots can be controlled simultaneously using an existing cloud-computing container-orchestration system. | - |
dc.language | 한국어 | - |
dc.language.iso | ko | - |
dc.publisher | Institute of Control, Robotics and Systems | - |
dc.title | 쿠버네티스 클러스터 기반 다수 로봇 원격 제어 및 관리 | - |
dc.title.alternative | Remote Multi-Robot Control and Management Based on a Kubernetes Cluster | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | 윤동원 | - |
dc.identifier.doi | 10.5302/J.ICROS.2023.22.0221 | - |
dc.identifier.scopusid | 2-s2.0-85147793475 | - |
dc.identifier.bibliographicCitation | Journal of Institute of Control, Robotics and Systems, v.29, no.2, pp.161 - 167 | - |
dc.relation.isPartOf | Journal of Institute of Control, Robotics and Systems | - |
dc.citation.title | Journal of Institute of Control, Robotics and Systems | - |
dc.citation.volume | 29 | - |
dc.citation.number | 2 | - |
dc.citation.startPage | 161 | - |
dc.citation.endPage | 167 | - |
dc.type.rims | ART | - |
dc.type.docType | Article | - |
dc.identifier.kciid | ART002929383 | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scopus | - |
dc.description.journalRegisteredClass | kci | - |
dc.subject.keywordPlus | Controllers | - |
dc.subject.keywordPlus | Fault tolerance | - |
dc.subject.keywordPlus | Industrial robots | - |
dc.subject.keywordPlus | Multipurpose robots | - |
dc.subject.keywordPlus | Containers | - |
dc.subject.keywordPlus | Cluster | - |
dc.subject.keywordPlus | Control module | - |
dc.subject.keywordPlus | Controller modules | - |
dc.subject.keywordPlus | Docker | - |
dc.subject.keywordPlus | High availability | - |
dc.subject.keywordPlus | Kubernetes | - |
dc.subject.keywordPlus | Multirobots | - |
dc.subject.keywordPlus | Robots control | - |
dc.subject.keywordPlus | Self-balancing robot | - |
dc.subject.keywordPlus | YAML | - |
dc.subject.keywordAuthor | Cluster | - |
dc.subject.keywordAuthor | Container | - |
dc.subject.keywordAuthor | Docker | - |
dc.subject.keywordAuthor | High Availability | - |
dc.subject.keywordAuthor | Kubernetes | - |
dc.subject.keywordAuthor | Robot | - |
dc.subject.keywordAuthor | Self-balancing Robot | - |
dc.subject.keywordAuthor | YAML | - |
dc.identifier.url | https://www.dbpia.co.kr/journal/articleDetail?nodeId=NODE11207152&language=ko_KR&hasTopBanner=true | - |
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