论文标题
fogros g：具有全球通讯性的安全，连接和移动雾机器人技术
FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability
论文作者
论文摘要
FOG机器人通过将重型机器人工作负载卸载到附近的边缘和远处的云数据中心，从而使具有更大移动性，按需计算能力和更好的能源效率的网络机器人。但是，作为实施雾化机器人应用程序的DACTO标准，机器人操作系统（ROS）及其后继产品ROS2无法为雾化机器人提供移动友好且安全的通信基础架构。 在这项工作中，我们提出了Fogros G，这是一个安全的路由框架，该框架连接了来自不同物理位置，网络，数据分发服务（DDS）和ROS分布的机器人软件组件。 Fogros G索引具有全球唯一256位名称的网络机器人，即使机器人在多个管理网络域之间漫游，也保持不变。 Fogros G利用全球数据平面，这是名称之间的全球和安全点对点路由基础架构，保证只有身份验证的一方才能从机器人发送或从机器人发送或接收。 Fogros G采用了基于代理的设计，该设计将ROS1和ROS2的节点与主流DDS供应商联系起来。这可以在没有任何更改应用程序代码的情况下完成。
Fog Robotics renders networked robots with greater mobility, on-demand compute capabilities and better energy efficiency by offloading heavy robotics workloads to nearby Edge and distant Cloud data centers. However, as the de-facto standard for implementing fog robotics applications, Robot Operating System (ROS) and its successor ROS2 fail to provide fog robots with a mobile-friendly and secure communication infrastructure. In this work, we present FogROS G, a secure routing framework that connects robotics software components from different physical locations, networks, Data Distribution Service (DDS) and ROS distributions. FogROS G indexes networked robots with globally unique 256-bit names that remains constant even if the robot roams between multiple administrative network domains. FogROS G leverages Global Data Plane, a global and secure peer-to-peer routing infrastructure between the names, guaranteeing that only authenticated party can send to or receive from the robot. FogROS G adopts a proxy-based design that connect nodes from ROS1 and ROS2 with mainstream DDS vendors; this can be done without any changes to the application code.
