Abstract
In recent years, cloud and edge architectures have gained tremendous focus for offloading computationally heavy applications. From machine learning and Internet of Thing (IOT) to industrial procedures and robotics, cloud computing have been used extensively for data processing and storage purposes, thanks to its "infinite" resources. On the other hand, cloud computing is characterized by long time delays due to the long distance between the cloud servers and the machine requesting the resources. In contrast, edge computing provides almost real-time services since edge servers are located significantly closer to the source of data. This capability sets edge computing as an ideal option for real-time applications, like high level control, for resource-constrained platforms. In order to utilize the edge resources, several technologies, with basic ones as containers and orchestrators like Kubernetes, have been developed to provide an environment with many features, based on each application's requirements. In this context, this works presents the implementation and evaluation of a novel edge architecture based on Kubernetes orchestration for controlling the trajectory of a resource-constrained Unmanned Aerial Vehicle (UAV) by enabling Model Predictive Control (MPC).
Abstract (translated)
近年来,云计算和边缘架构在处理计算密集型应用程序方面获得了巨大的关注。从机器学习和物联网(IoT)到工业程序和机器人,云计算被广泛用于数据处理和存储目的,因为它具有“无限”的资源。另一方面,云计算具有长时间的延迟,由于云计算服务器与请求资源的机器之间的长距离。相比之下,边缘计算由于边缘服务器更接近数据源,提供了几乎实时的服务。这种能力将边缘计算设置为实时应用程序的理想选项,如高水平控制,对于资源受限的平台。为了利用边缘资源,开发了许多技术,其中基本的技术是容器和Kubernetes等调度器,以提供基于每个应用程序要求的多个特性的环境。在这种情况下,这项工作介绍了基于Kubernetes调度的新边缘架构的实现和评估,以控制资源受限的无人直升机(UAV)的的轨迹,通过启用模型预测控制(MPC)。
URL
https://arxiv.org/abs/2301.13624
