论文标题
基于Docker和Kubernetes的边缘体系结构的比较，以实现远程模型的空中机器人的预测性控制
Comparison between Docker and Kubernetes based Edge Architectures for Enabling Remote Model Predictive Control for Aerial Robots
论文作者
论文摘要
在寻求利用边缘资源和最小时间延迟的研究人员中，Edge Computing越来越受欢迎，以更有效地运行其机器人应用程序。最近，已经提出了许多边缘体系结构，每个应用都有其优势和缺点，具体取决于每个应用程序。在这项工作中，我们提出了两个不同的边缘体系结构，以控制无人机（UAV）的轨迹。第一个体系结构基于Docker容器，第二个架构基于Kubernetes，而操作机器人的主要框架是机器人操作系统（ROS）。正在通过扩展模拟来评估整个建议方案的效率，以比较这两个架构和获得的总体结果。
Edge computing is becoming more and more popular among researchers who seek to take advantage of the edge resources and the minimal time delays, in order to run their robotic applications more efficiently. Recently, many edge architectures have been proposed, each of them having their advantages and disadvantages, depending on each application. In this work, we present two different edge architectures for controlling the trajectory of an Unmanned Aerial Vehicle (UAV). The first architecture is based on docker containers and the second one is based on kubernetes, while the main framework for operating the robot is the Robotic Operating System (ROS). The efficiency of the overall proposed scheme is being evaluated through extended simulations for comparing the two architectures and the overall results obtained.
