A Communication Framework for the Robotic Mediator collaborating with Smart Environments

스마트 환경과 협업하는 중재 로봇을 위한 통신 프레임워크

  • Suh, Young-Ho (Robot/Cognitive System Research Department, Electronics and Telecommunication Research Institute) ;
  • Lee, Kang-Woo (Robot/Cognitive System Research Department, Electronics and Telecommunication Research Institute) ;
  • Cho, Eun-Sun (Department of Computer Science and Engineering, Chungnam National University)
  • 서영호 (한국전자통신연구원 로봇/인지시스템 연구부) ;
  • 이강우 (한국전자통신연구원 로봇/인지시스템 연구부) ;
  • 조은선 (충남대학교 컴퓨터공학과)
  • Received : 2011.02.16
  • Accepted : 2012.03.05
  • Published : 2012.03.25

Abstract

In order to enable network robots to effectively collaborate with smart environments, it is crucial that various types of heterogeneous device platforms can communicate each other in flexible and efficient manners. Most of existing software platforms for network robots adopted general-purpose middlewares such as CORBA, which are not suitable to the communication between robots and smart environments due to their heavy size and complexity. Moreover, they do not provide network robot-specific features. Therefore, we propose a new TCP-based Remote Method Invocation framework. We devide the middleware into two layers i. e. transport layers and rmi layers and provide key features to each layer so that network robots can effectively communicate with various devices in smart environments.

이형의 단말 플랫폼간의 유연하고 효율적인 통신은 로봇과 스마트 환경이 함께 증강된 기능을 구성하여 협업하기 위해 매우 중요하다. 기존의 네트워크 로봇 소프트웨어 플랫폼에서는 CORBA와 같은 범용의 통신 미들웨어를 사용하는 경우가 많았다. 그러나 범용의 통신 미들웨어는 너무 무겁고 사용이 복잡할 뿐만 아니라, 네트워크 로봇에 특화된 기능을 제공하지 못한다. 따라서 본 논문에서는 TCP에 기반 한 원격객체함수 호출방식의 새로운 통신 프레임워크를 제안한다. 전송계층과 원격객체호출 계층으로 분리하여, 각 계층별로 다양한 특화 기능을 제공함으로써 스마트 환경에서 로봇과 다양한 단말이 효과적으로 통신할 수 있도록 한다.

Keywords

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