Evaluation of data distribution techniques in a CORBA-based telerobotic system Export

@proceedings{citeulike:2716813, abstract = {Distributed telerobotic applications exploiting Internet-related technologies, such as virtual laboratories and on-line robots, require effective techniques for timely delivery of sensory data to remote clients. In these systems, there is a need to distribute increasing quantities of sensory data to a potentially large number of clients during system operation. In this paper, we describe and evaluate three implementations of a sensory data distribution subsystem in the context of a CORBA-based framework for telerobotic applications. Experimental results show that solutions exploiting CORBA services and based on the event channel paradigm represent a viable alternative to ad-hoc solutions. The overhead associated to CORBA services becomes less significant with larger message size. Moreover, these services ensure portability, extensibility, reduction in programming complexity, and improved scalability when the number of clients increases.}, author = {Amoretti, M. and Bottazzi, S. and Reggiani, M. and Caselli, S.}, booktitle = {Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on}, citeulike-article-id = {2716813}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/IROS.2003.1248791}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=1248791}, doi = {10.1109/IROS.2003.1248791}, journal = {Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on}, keywords = {distributed\_data\_stream\_mgt, middleware, robotics}, pages = {1100--1105 vol.2}, posted-at = {2008-04-25 07:06:49}, priority = {2}, title = {Evaluation of data distribution techniques in a CORBA-based telerobotic system}, url = {http://dx.doi.org/10.1109/IROS.2003.1248791}, volume = {2}, year = {2003} }

TY - CONF ID - citeulike:2716813 L3 - citeulike-article-id:2716813 N2 - Distributed telerobotic applications exploiting Internet-related technologies, such as virtual laboratories and on-line robots, require effective techniques for timely delivery of sensory data to remote clients. In these systems, there is a need to distribute increasing quantities of sensory data to a potentially large number of clients during system operation. In this paper, we describe and evaluate three implementations of a sensory data distribution subsystem in the context of a CORBA-based framework for telerobotic applications. Experimental results show that solutions exploiting CORBA services and based on the event channel paradigm represent a viable alternative to ad-hoc solutions. The overhead associated to CORBA services becomes less significant with larger message size. Moreover, these services ensure portability, extensibility, reduction in programming complexity, and improved scalability when the number of clients increases. JF - Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on EP - 1105 vol.2 TI - Evaluation of data distribution techniques in a CORBA-based telerobotic system VL - 2 T2 - Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on SP - 1100 KW - distributed_data_stream_mgt KW - middleware KW - robotics AU - Amoretti, M AU - Bottazzi, S AU - Reggiani, M AU - Caselli, S PY - 2003/// UR - http://dx.doi.org/10.1109/IROS.2003.1248791 ER -