Igems - Resource-oriented System for Telerobotics Testbeds

Abstract

Although robotics is currently a very popular and interesting research area, there still exist two main problems of finance and technology that create barriers for roboticists and computer scientists to have access to sufficient robotic resources to conduct their experiments. In this thesis, we design and create a Resource-Oriented System for Telerobotics Testbeds which allow scientists to connect and use remote robotic resources from other institutions where they may be available. This will help solve the financial problem for small education institutions with a small budget. Besides, the system provides the attached resources as Web Services which can be connected and consumed by diverse technologies and platforms. This overcomes the second big problem of the technology barrier. Our system is implemented on a real server. Our Web Services followed by URIs patterns are very friendly and intuitive to users. The design of URIs enables our framework to be applied for large-scale experiments with a huge amount of attached resources.