CPCC

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).

Code

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.

Download Source

Demo

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.

Online Demo »

Cooperation

Cyber-Physical Cloud Computing Lab at the University of California, Berkeley.

Publications

  1. A. Foina, R. Sengupta, P. Lerchi, Z. Liu and C. Krainer. “Drones in Smart Cities: Overcoming Barriers through Air Traffic Control Research”. In: Workshop on Research, Education and Development of Unmanned Aerial Systems (RED-UAS). 2015. [ pdf ]
  2. A. Foina, C. Krainer and R. Sengupta. “An Unmanned Aerial Traffic Management Solution for Cities Using an Air Parcel Model”. In: International Conference on Unmanned Aircraft Systems (ICUAS). 2015. [ pdf ]
  3. E. Pereira, C. Krainer, P. M. Silva, C. Kirsch and R. Sengupta. “A Runtime System for Logical-Space Programming”. In: Proc. Workshop on the Swarm at the Edge of the Cloud (SWEC). 2015. [ pdf ]
  4. J. Huang, C.M. Kirsch, and R. Sengupta. “Cloud Computing in Space”. In: INFORMS Journal on Computing 27.4 (2015), pp. 704–717. DOI: 10.1287/ijoc.2015.0652.
  5. C. Krainer and C. M. Kirsch. “Cyber-Physical Cloud Computing Implemented as PaaS”. In: Proc. Workshop on Design, Modeling, and Evaluation of Cyber-Physical Systems (CyPhy). ACM, 2014. [ pdf ]
  6. E. Pereira et al. “Modeling and Controlling the Structure of Heterogeneous Mobile Robotic Systems: A BigActor Approach”. In: International Systems Conference (SysCon). IEEE, 2013. [ pdf ]
  7. J. Huang, C.M. Kirsch, and R. Sengupta. Scalability of Vehicle Networks through Vehicle Virtualization. Poster at the International Workshop on the Swarm at the Edge of the Cloud. 2013. [ pdf ]
  8. E. Pereira et al. “BigActors - A Model for Structure-aware Computation”. In: Proc. International Conference on Cyber-Physical Systems (ICCPS). ACM, 2013. [ pdf ]
  9. E. Pereira, P. Silva, C. Krainer, C. Kirsch, J. Morgado and R. Sengupta. “A Networked Robotic System and its Use in an Oil Spill Monitoring Exercise”. In: Swarm at the Edge of the Could - ESWeek’13, Montreal, Canada, 2013. [ pdf ]
  10. C.M. Kirsch et al. “Cyber-Physical Cloud Computing: The Binding and Migration Problem”. In: Proc. International Conference on Design, Automation and Test in Europe (DATE). 2012. pdf ]
  11. H. Chen et al. “Cloud Computing on Wings: Applications to Air Quality”. In: Proc. American Astronautical Society Guidance and Control Conference (AASGNC). AAS, 2012. [ pdf ]
  12. S.S. Craciunas et al. “Information-Acquisition-as-a-Service for Cyber-Physical Cloud Computing”. In: Proc. Workshop on Hot Topics in Cloud Computing (HotCloud). USENIX, 2010. [ pdf ]
  13. C. D. Krainer. JNavigator - An Autonomous Navigation System for the JAviator Quadrotor Helicopter. Master’s Thesis, University of Salzburg, Austria, 2009. [ pdf | bib ]