Cyber-Physical Cloud Computing
We present a Platform-as-a-Service (PaaS) system for performing multi-customer information acquisition missions on unmanned vehicle swarms operated and maintained by a third party. Customers implement their missions completely unaware of each other and the available vehicle infrastructure. Vehicle swarm providers may add or remove vehicles unnoticed by customers for maintenance, recharging, and refueling. To achieve this, we apply the paradigm of cloud computing to virtualized versions of unmanned vehicles. Our implementation allows the simulation of multi-customer information acquisition missions as well as their execution on real hardware running the robot operating system (ROS).
All code is released under GPL and is available on GitHub. Consult the README file for instructions on how to build and run the software.
The online demo comprises a ground station and four simulated UAVs. Virtual vehicle example code is available here. Note that the demo resets daily at noon.
Cyber-Physical Cloud Computing Lab at the University of California, Berkeley.