RIOT-ROS2: Low-Cost Robots in IoT Controlled via Information-Centric Networking

Loïc Dauphin 1, 2 Emmanuel Baccelli 1, 2 Cédric Adjih 1, 2
1 INFINE - INFormation NEtworks
Inria Saclay - Ile de France
2 INFINE-POST - INFormation NEtworks
Inria Saclay - Ile de France
Abstract : In the future, IoT devices will be part of the robotics ecosystem, and the border between IoT and robotics will blur. Already today, we observe converging trends between low-end IoT devices and minibots (i.e. tiny, cheap robots) concerning their hardware, and open source software. Micro-drones are an example of this trend. In this paper, we explore the potential of programming minibots with the open source robotics software framework ROS2, running on top of the IoT operating system RIOT; we call the fruitful association of both elements RIOT-ROS2. In this article, the emphasis is particularly on the networking layer: using an information-centric networking (ICN) paradigm, we design and implement the communication primitives for RIOT-ROS2. We further evaluate the performance of our design on prototype minibots based on cheap, off-the-shelf hardware elements. We show that RIOT-ROS2 fits on low-end robotics hardware such as a System-on-Chip costing under $2, based on an ARM Cortex-M0+ microcontroller. Our experiments also show that the latency incurred with our information-centric approach is acceptable for minibot control, even on a low-throughput IEEE 802.15.4 radio.
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Loïc Dauphin, Emmanuel Baccelli, Cédric Adjih. RIOT-ROS2: Low-Cost Robots in IoT Controlled via Information-Centric Networking. 7th IFIP/IEEE International Conference on Performance Evaluation and Modeling in Wired and Wireless Networks (PEMWN 2018), Sep 2018, Toulouse, France. ⟨hal-01898889⟩

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