Authors: Sasan Ardalan, Donald Elkins
The Architecture for Networked Robots presented in this paper, is designed so that entities at the Enterprise level, such as a Java Application can access multiple Robots with real-time, two-way, on-demand reading of sensors and the control over Robot motion (actuators). If an application can simultaneously have access to the sensors of multiple Robots, then sophisticated algorithms can be developed to coordinate the movement of multiple robots. The simultaneous combined full knowledge of all aspects of the Robot's sensors and motion control, open up the capability to make multiple Robots act in a coordinated and purposeful way. In addition, the Networked Robots Architecture allows for multiple Enterprise Entities to have simultaneous access to the same Robot. A significant aspect of this architecture is that multiple independent entities can simultaneously access the Robot through a real time connection. For example, while a Java Application is monitoring and controlling a Robot, another entity such as an HTML5 WebSocket Client can also control and monitor the same Robot through a Web Browser. A multi-threaded WebSocket Server with routing is combined with a separate multi-threaded TCP/IP Server called the Frontline Server. The Robots connect through the Frontline Server which creates a thread per connection and connects to the WebSocket Server. The WebSocket server accepts connections through Enterprise Applications( e.g. Java based) and Remote Web Based Applications. Each Robot has a unique identification (48 bit represented in hexadecimal) and a truncated WebSocket Session ID that is maintained throughout the connections, including in the Robot's Firmware. Both WiFi LAN and 4G LTE WAN are supported with Robots in both networks accessible through the Internet.
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