TY - GEN
T1 - Reliable Communication Mechanism Design for Interaction between Android and ROS
AU - Shao, Zhenzhou
AU - Li, Mengnan
AU - Qu, Ying
AU - Song, Guoli
AU - Guan, Yong
AU - Tan, Jindong
AU - Wei, Hongxing
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2019/4/10
Y1 - 2019/4/10
N2 - There exists a wide application prospect in the interaction between the android system and ROS (Robot Operating System). Google and Willow Garage have developed the android-core package based on rosjava to build a ROS environment in the android system. However, the current mechanism cannot guarantee the reliable communication. This paper proposes two fundamental approaches to solve above problem. On the one hand, a communication anomaly detection module CheckNodeConnection in the application layer of the TCP/IP protocol is designed to detect the connection anomaly of network. On the other hand, we develop a communication mechanism called RosActionOnAndroid on the android system inspired by the 'ROS Action Protocol' in ROS. The experimental results show that CheckNodeConnection can effectively detect the connection state between android and ROS, and RosActionOnAndroid communication mechanism can obtain the task execution status feedback of the ROS robot and support the preemptable task, which make the interactive control more accurate and reliable.
AB - There exists a wide application prospect in the interaction between the android system and ROS (Robot Operating System). Google and Willow Garage have developed the android-core package based on rosjava to build a ROS environment in the android system. However, the current mechanism cannot guarantee the reliable communication. This paper proposes two fundamental approaches to solve above problem. On the one hand, a communication anomaly detection module CheckNodeConnection in the application layer of the TCP/IP protocol is designed to detect the connection anomaly of network. On the other hand, we develop a communication mechanism called RosActionOnAndroid on the android system inspired by the 'ROS Action Protocol' in ROS. The experimental results show that CheckNodeConnection can effectively detect the connection state between android and ROS, and RosActionOnAndroid communication mechanism can obtain the task execution status feedback of the ROS robot and support the preemptable task, which make the interactive control more accurate and reliable.
UR - https://www.scopus.com/pages/publications/85064991382
U2 - 10.1109/CYBER.2018.8688347
DO - 10.1109/CYBER.2018.8688347
M3 - 会议稿件
AN - SCOPUS:85064991382
T3 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
SP - 1496
EP - 1501
BT - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, CYBER 2018
Y2 - 19 July 2018 through 23 July 2018
ER -