Bachelor and Master Theses
To apply for conducting this thesis, please contact the thesis supervisor(s).
| Title: | QoS performance enhancement for robotic distributed systems based on the Robot Operating System 2 |
| Subject: | Embedded systems, Robotics |
| Level: | Advanced |
| Description: |
The Robot Operating System 2 ROS2 provides software libraries and tools that simplify the development of robot software systems. In complex automation systems where multiple computer nodes (e.g., cloud , edge, Fog computing) and external cameras and sensors are used to optimize the planning and control of robots, the robots' functionalities are distributed over several computers. Communication might become a bottleneck that affects QoS in terms of latency, jitter, and data consistency. ROS 2 supports many QoS policies through the underlying DDS middleware to tune communication. This thesis aims at investigating how much gain can be achieved by setting the QoS policies through conducting experiments on a practical use case. In addition, it provides guidelines for optimizing the configuration of the operating system within nodes and communications between the nodes. The thesis will be done in the context of ACICS, a four-year research project involving MDH, ABB, Ericsson and Volvo. Supervisor(s): Moris Behnam Examiner: |
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| Prerequisites: | C programming, operating systems and embedded systems |
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