RoFIOS - Flexible Full-Stack Software Solution for Metamorphic Robots

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.

• Publication year

  2023

• Venue

  2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)

• Publication date

  2023-08-26

• Fields of study

  Computer Science, Engineering

• Identifiers
  DOI 10.1109/CASE56687.2023.10260586
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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