TY - GEN
T1 - Feasibility study of IoRT platform "big Sensor Box"
AU - Kurazume, Ryo
AU - Pyo, Yoonseok
AU - Nakashima, Kazuto
AU - Kawamura, Akihiro
AU - Tsuji, Tokuo
PY - 2017/7/21
Y1 - 2017/7/21
N2 - This paper proposes new software and hardware platforms named ROS-TMS and Big Sensor Box, respectively, for an informationally structured environment. We started the development of a management system for an informationally structured environment named Town Management System (TMS) in the Robot Town Project in 2005. Since then we have been continuing our efforts to improve performance and to enhance TMS functions. Recently, we launched a new version of TMS named ROS-TMS, which resolves some critical problems in TMS by adopting the Robot Operating System (ROS) and utilizing the high scalability and numerous resources of ROS. In this paper, we first discuss the structure of a software platform for the informationally structured environment and describe in detail our latest system, ROS-TMS version 4.0. Next, we introduce a hardware platform for the informationally structured environment named Big Sensor Box, in which a variety of sensors are embedded and service robots are operated according to the structured information under the management of ROS-TMS. Robot service experiments including a fetch-and-give task and autonomous control of a wheelchair robot are also conducted in Big Sensor Box.
AB - This paper proposes new software and hardware platforms named ROS-TMS and Big Sensor Box, respectively, for an informationally structured environment. We started the development of a management system for an informationally structured environment named Town Management System (TMS) in the Robot Town Project in 2005. Since then we have been continuing our efforts to improve performance and to enhance TMS functions. Recently, we launched a new version of TMS named ROS-TMS, which resolves some critical problems in TMS by adopting the Robot Operating System (ROS) and utilizing the high scalability and numerous resources of ROS. In this paper, we first discuss the structure of a software platform for the informationally structured environment and describe in detail our latest system, ROS-TMS version 4.0. Next, we introduce a hardware platform for the informationally structured environment named Big Sensor Box, in which a variety of sensors are embedded and service robots are operated according to the structured information under the management of ROS-TMS. Robot service experiments including a fetch-and-give task and autonomous control of a wheelchair robot are also conducted in Big Sensor Box.
UR - http://www.scopus.com/inward/record.url?scp=85028000111&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85028000111&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2017.7989420
DO - 10.1109/ICRA.2017.7989420
M3 - Conference contribution
AN - SCOPUS:85028000111
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3664
EP - 3671
BT - ICRA 2017 - IEEE International Conference on Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE International Conference on Robotics and Automation, ICRA 2017
Y2 - 29 May 2017 through 3 June 2017
ER -