{"title":"鼓:中间件感知分布式机器人监控系统","authors":"Valiallah Monajjemi, Jens Wawerla, R. Vaughan","doi":"10.1145/2843966.2843974","DOIUrl":null,"url":null,"abstract":"We introduce Drums, a new tool for monitoring and debugging distributed robot systems, and a complement to robot middleware systems. Drums provides online time-series monitoring of the underlying resources that are partially abstracted away by middleware like ROS. Interfacing with the middleware, Drums provides de-abstraction and de-multiplexing of middleware services to reveal the system-level interactions of your controller code, the middleware, OS and the robot(s) environment. We show worked examples of Drums' utility for debugging realistic problems, and propose it as a tool for quality of service monitoring and introspection for robust autonomous systems.","PeriodicalId":385422,"journal":{"name":"2014 Canadian Conference on Computer and Robot Vision","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2014-05-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":"{\"title\":\"Drums: A Middleware-Aware Distributed Robot Monitoring System\",\"authors\":\"Valiallah Monajjemi, Jens Wawerla, R. Vaughan\",\"doi\":\"10.1145/2843966.2843974\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We introduce Drums, a new tool for monitoring and debugging distributed robot systems, and a complement to robot middleware systems. Drums provides online time-series monitoring of the underlying resources that are partially abstracted away by middleware like ROS. Interfacing with the middleware, Drums provides de-abstraction and de-multiplexing of middleware services to reveal the system-level interactions of your controller code, the middleware, OS and the robot(s) environment. We show worked examples of Drums' utility for debugging realistic problems, and propose it as a tool for quality of service monitoring and introspection for robust autonomous systems.\",\"PeriodicalId\":385422,\"journal\":{\"name\":\"2014 Canadian Conference on Computer and Robot Vision\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2014-05-06\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"12\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2014 Canadian Conference on Computer and Robot Vision\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1145/2843966.2843974\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 Canadian Conference on Computer and Robot Vision","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1145/2843966.2843974","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Drums: A Middleware-Aware Distributed Robot Monitoring System
We introduce Drums, a new tool for monitoring and debugging distributed robot systems, and a complement to robot middleware systems. Drums provides online time-series monitoring of the underlying resources that are partially abstracted away by middleware like ROS. Interfacing with the middleware, Drums provides de-abstraction and de-multiplexing of middleware services to reveal the system-level interactions of your controller code, the middleware, OS and the robot(s) environment. We show worked examples of Drums' utility for debugging realistic problems, and propose it as a tool for quality of service monitoring and introspection for robust autonomous systems.
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