<s>
Cloud	B-General_Concept
robotics	I-General_Concept
is	O
a	O
field	O
of	O
robotics	O
that	O
attempts	O
to	O
invoke	O
cloud	B-Architecture
technologies	I-Architecture
such	O
as	O
cloud	B-Architecture
computing	I-Architecture
,	O
cloud	O
storage	O
,	O
and	O
other	O
Internet	B-Architecture
technologies	I-Architecture
centered	O
on	O
the	O
benefits	O
of	O
converged	O
infrastructure	O
and	O
shared	O
services	O
for	O
robotics	O
.	O
</s>
<s>
When	O
connected	O
to	O
the	O
cloud	O
,	O
robots	O
can	O
benefit	O
from	O
the	O
powerful	O
computation	O
,	O
storage	O
,	O
and	O
communication	O
resources	O
of	O
modern	O
data	B-Operating_System
center	I-Operating_System
in	B-Architecture
the	I-Architecture
cloud	I-Architecture
,	O
which	O
can	O
process	O
and	O
share	O
information	O
from	O
various	O
robots	O
or	O
agent	O
(	O
other	O
machines	O
,	O
smart	O
objects	O
,	O
humans	O
,	O
etc	O
.	O
)	O
.	O
</s>
<s>
Cloud	B-Architecture
computing	I-Architecture
technologies	O
enable	O
robot	O
systems	O
to	O
be	O
endowed	O
with	O
powerful	O
capability	O
whilst	O
reducing	O
costs	O
through	O
cloud	B-Architecture
technologies	I-Architecture
.	O
</s>
<s>
Thus	O
,	O
it	O
is	O
possible	O
to	O
build	O
lightweight	O
,	O
low-cost	O
,	O
smarter	O
robots	O
with	O
an	O
intelligent	O
"	O
brain	O
"	O
in	B-Architecture
the	I-Architecture
cloud	I-Architecture
.	O
</s>
<s>
The	O
"	O
brain	O
"	O
consists	O
of	O
data	B-Operating_System
center	I-Operating_System
,	O
knowledge	O
base	O
,	O
task	O
planners	O
,	O
deep	B-Algorithm
learning	I-Algorithm
,	O
information	O
processing	O
,	O
environment	O
models	O
,	O
communication	O
support	O
,	O
etc	O
.	O
</s>
<s>
It	O
is	O
the	O
main	O
object	O
of	O
cloud	B-General_Concept
robotics	I-General_Concept
.	O
</s>
<s>
Offering	O
a	O
global	O
library	O
of	O
images	O
,	O
maps	O
,	O
and	O
object	O
data	O
,	O
often	O
with	O
geometry	O
and	O
mechanical	O
properties	O
,	O
expert	B-Application
system	I-Application
,	O
knowledge	O
base	O
(	O
i.e.	O
</s>
<s>
The	O
cars	O
use	O
the	O
network	B-Architecture
to	O
access	O
Google	O
's	O
enormous	O
database	O
of	O
maps	O
and	O
satellite	O
and	O
environment	O
model	O
(	O
like	O
Streetview	O
)	O
and	O
combines	O
it	O
with	O
streaming	O
data	O
from	O
GPS	O
,	O
cameras	O
,	O
and	O
3D	O
sensors	O
to	O
monitor	O
its	O
own	O
position	O
within	O
centimetres	O
,	O
and	O
with	O
past	O
and	O
current	O
traffic	O
patterns	O
to	O
avoid	O
collisions	O
.	O
</s>
<s>
Cloud	O
medical	O
robots	O
a	O
medical	O
cloud	O
(	O
also	O
called	O
a	O
healthcare	O
cluster	O
)	O
consists	O
of	O
various	O
services	O
such	O
as	O
a	O
disease	O
archive	O
,	O
electronic	O
medical	O
records	O
,	O
a	O
patient	O
health	O
management	O
system	O
,	O
practice	O
services	O
,	O
analytics	O
services	O
,	O
clinic	O
solutions	O
,	O
expert	B-Application
systems	I-Application
,	O
etc	O
.	O
</s>
<s>
The	O
system	O
collects	O
the	O
health	O
status	O
of	O
users	O
and	O
exchange	O
information	O
with	O
cloud	O
expert	B-Application
system	I-Application
or	O
doctors	O
to	O
facilitate	O
elderly	O
peoples	O
life	O
,	O
especially	O
for	O
those	O
with	O
chronic	O
diseases	O
.	O
</s>
<s>
Care	O
givers	O
of	O
elderly	O
people	O
can	O
also	O
get	O
notification	O
when	O
in	O
emergency	O
from	O
the	O
robot	O
through	O
network	B-Architecture
.	O
</s>
<s>
Industrial	O
robots	O
As	O
highlighted	O
by	O
the	O
German	O
government	O
's	O
Industry	B-General_Concept
4.0	I-General_Concept
Plan	O
,	O
"	O
Industry	O
is	O
on	O
the	O
threshold	O
of	O
the	B-General_Concept
fourth	I-General_Concept
industrial	I-General_Concept
revolution	I-General_Concept
.	O
</s>
<s>
Driven	O
by	O
the	O
Internet	O
,	O
the	O
real	O
and	O
virtual	O
worlds	O
are	O
growing	O
closer	O
and	O
closer	O
together	O
to	O
form	O
the	B-Operating_System
Internet	I-Operating_System
of	I-Operating_System
Things	I-Operating_System
.	O
</s>
<s>
Experiments	O
show	O
that	O
LFRL	O
greatly	O
improves	O
the	O
efficiency	O
of	O
reinforcement	O
learning	O
for	O
robot	B-General_Concept
navigation	I-General_Concept
.	O
</s>
<s>
A	O
technological	O
revolution	O
is	O
occurring	O
in	O
the	O
field	O
of	O
robotics	O
with	O
the	O
data-driven	O
deep	B-Algorithm
learning	I-Algorithm
technology	O
.	O
</s>
<s>
Finally	O
,	O
fine	O
tune	O
this	O
larger	O
shared	O
dataset	O
in	B-Architecture
the	I-Architecture
cloud	I-Architecture
to	O
local	O
robots	O
.	O
</s>
<s>
Furthermore	O
,	O
we	O
propose	O
the	O
DAT	O
Network	B-Architecture
(	O
Data	O
Augmentation	O
and	O
Transferring	O
Network	B-Architecture
)	O
to	O
implement	O
the	O
data	O
processing	O
in	O
PARL	O
.	O
</s>
<s>
DAT	O
Network	B-Architecture
can	O
realize	O
the	O
augmentation	O
of	O
data	O
from	O
multi-local	O
robots	O
.	O
</s>
<s>
DAT	O
Network	B-Architecture
has	O
a	O
significant	O
improvement	O
in	O
the	O
augmentation	O
in	O
self-driving	O
scenarios	O
.	O
</s>
<s>
was	O
funded	O
by	O
the	O
European	O
Union	O
's	O
Seventh	O
Framework	O
Programme	O
for	O
research	O
,	O
technological	O
development	O
projects	O
,	O
specifically	O
to	O
explore	O
the	O
field	O
of	O
cloud	B-General_Concept
robotics	I-General_Concept
.	O
</s>
<s>
RoboEarth	O
offers	O
a	O
Cloud	B-General_Concept
Robotics	I-General_Concept
infrastructure	O
.	O
</s>
<s>
Rapyuta	B-General_Concept
is	O
an	O
open	B-License
source	I-License
cloud	B-General_Concept
robotics	I-General_Concept
framework	O
based	O
on	O
RoboEarth	O
Engine	O
developed	O
by	O
the	O
robotics	O
researcher	O
at	O
ETHZ	O
.	O
</s>
<s>
Within	O
the	O
framework	O
,	O
each	O
robot	O
connected	O
to	O
Rapyuta	B-General_Concept
can	O
have	O
a	O
secured	O
computing	O
environment	O
(	O
rectangular	O
boxes	O
)	O
giving	O
them	O
the	O
ability	O
to	O
move	O
their	O
heavy	O
computation	O
into	O
the	O
cloud	O
.	O
</s>
<s>
It	O
can	O
be	O
regarded	O
as	O
a	O
social	O
network	B-Architecture
for	O
robots	O
and	O
smart	O
objects	O
(	O
i.e.	O
</s>
<s>
ROS	B-Application
(	O
Robot	B-Application
Operating	I-Application
System	I-Application
)	O
provides	O
an	O
eco-system	O
to	O
support	O
cloud	B-General_Concept
robotics	I-General_Concept
.	O
</s>
<s>
ROS	B-Application
is	O
a	O
flexible	O
and	O
distributed	O
framework	O
for	O
robot	O
software	O
development	O
.	O
</s>
<s>
A	O
library	O
for	O
ROS	B-Application
that	O
is	O
a	O
pure	O
Java	O
implementation	O
,	O
called	O
rosjava	O
,	O
allows	O
Android	O
applications	O
to	O
be	O
developed	O
for	O
robots	O
.	O
</s>
<s>
Since	O
Android	O
has	O
a	O
booming	O
market	O
and	O
billion	O
users	O
,	O
it	O
would	O
be	O
significant	O
in	O
the	O
field	O
of	O
Cloud	B-General_Concept
Robotics	I-General_Concept
.	O
</s>
<s>
DAVinci	O
Project	O
is	O
a	O
proposed	O
software	O
framework	O
that	O
seeks	O
to	O
explore	O
the	O
possibilities	O
of	O
parallelizing	O
some	O
of	O
the	O
robotics	O
algorithms	O
as	O
Map/Reduce	O
tasks	O
in	O
Hadoop	B-Application
.	O
</s>
<s>
The	O
project	O
aims	O
to	O
build	O
a	O
cloud	B-Architecture
computing	I-Architecture
environment	O
capable	O
of	O
providing	O
a	O
compute	O
cluster	O
built	O
with	O
commodity	O
hardware	O
exposing	O
a	O
suite	O
of	O
robotic	O
algorithms	O
as	O
a	O
SaaS	B-Architecture
and	O
share	O
data	O
co-operatively	O
across	O
the	O
robotic	O
ecosystem	O
.	O
</s>
<s>
C2RO	O
(	O
C2RO	O
Cloud	B-General_Concept
Robotics	I-General_Concept
)	O
is	O
a	O
platform	O
that	O
processes	O
real-time	B-General_Concept
applications	I-General_Concept
such	O
as	O
collision	O
avoidance	O
and	O
object	O
recognition	O
in	B-Architecture
the	I-Architecture
cloud	I-Architecture
.	O
</s>
<s>
Previously	O
,	O
high	O
latency	O
times	O
prevented	O
these	O
applications	O
from	O
being	O
processed	O
in	B-Architecture
the	I-Architecture
cloud	I-Architecture
thus	O
requiring	O
on-system	O
computational	O
hardware	O
(	O
e.g.	O
</s>
<s>
C2RO	O
published	O
a	O
peer-reviewed	O
paper	O
at	O
IEEE	O
PIMRC17	O
showing	O
its	O
platform	O
could	O
make	O
autonomous	B-General_Concept
navigation	I-General_Concept
and	O
other	O
AI	O
services	O
available	O
on	O
robots	O
-	O
even	O
those	O
with	O
limited	O
computational	O
hardware	O
(	O
e.g.	O
</s>
<s>
C2RO	O
eventually	O
claimed	O
to	O
be	O
the	O
first	O
platform	O
to	O
demonstrate	O
cloud-based	B-Architecture
SLAM	B-Application
(	O
simultaneous	B-Application
localization	I-Application
and	I-Application
mapping	I-Application
)	O
at	O
RoboBusiness	O
in	O
September	O
2017	O
.	O
</s>
<s>
Noos	O
is	O
a	O
cloud	B-General_Concept
robotics	I-General_Concept
service	O
,	O
providing	O
centralised	O
intelligence	O
to	O
robots	O
that	O
are	O
connected	O
to	O
it	O
.	O
</s>
<s>
By	O
using	O
the	O
Noos-API	O
,	O
developers	O
could	O
access	O
services	O
for	O
computer	O
vision	O
,	O
deep	B-Algorithm
learning	I-Algorithm
,	O
and	O
SLAM	B-Application
.	O
</s>
<s>
Rocos	O
is	O
a	O
centralized	O
cloud	B-General_Concept
robotics	I-General_Concept
platform	O
that	O
provides	O
the	O
developer	O
tooling	O
and	O
infrastructure	O
to	O
build	O
,	O
test	O
,	O
deploy	O
,	O
operate	O
and	O
automate	O
robot	O
fleets	O
at	O
scale	O
.	O
</s>
<s>
Though	O
robots	O
can	O
benefit	O
from	O
various	O
advantages	O
of	O
cloud	B-Architecture
computing	I-Architecture
,	O
cloud	O
is	O
not	O
the	O
solution	O
to	O
all	O
of	O
robotics	O
.	O
</s>
<s>
Controlling	O
a	O
robot	O
's	O
motion	O
which	O
relies	O
heavily	O
on	O
(	O
real-time	B-General_Concept
)	O
sensors	O
and	O
feedback	O
of	O
controller	O
may	O
not	O
benefit	O
much	O
from	O
the	O
cloud	O
.	O
</s>
<s>
Tasks	O
that	O
involve	O
real-time	B-General_Concept
execution	O
require	O
on-board	O
processing	O
.	O
</s>
<s>
Cloud-based	B-Architecture
applications	O
can	O
get	O
slow	O
or	O
unavailable	O
due	O
to	O
high-latency	O
responses	O
or	O
network	B-Architecture
hitch	O
.	O
</s>
<s>
If	O
a	O
robot	O
relies	O
too	O
much	O
on	O
the	O
cloud	O
,	O
a	O
fault	O
in	O
the	O
network	B-Architecture
could	O
leave	O
it	O
"	O
brainless.	O
"	O
</s>
<s>
The	O
research	O
and	O
development	O
of	O
cloud	B-General_Concept
robotics	I-General_Concept
has	O
following	O
potential	O
issues	O
and	O
challenges	O
:	O
</s>
<s>
Scalable	B-Architecture
parallelisation-grid-computing	O
,	O
parallelisation	B-Operating_System
schemes	O
scale	O
with	O
the	O
size	O
of	O
automation	O
infrastructure	O
.	O
</s>
<s>
Effective	O
load	B-Application
balancing	I-Application
:	O
Balancing	O
operations	O
between	O
local	O
and	O
cloud	O
computation	O
.	O
</s>
<s>
Big	B-Application
Data	I-Application
:	O
Data	O
,	O
collected	O
and/or	O
disseminated	O
over	O
large	O
,	O
accessible	O
networks	O
can	O
enable	O
decisions	O
for	O
classification	O
problems	O
or	O
reveal	O
patterns	O
.	O
</s>
<s>
Environmental	O
security	O
-	O
The	O
concentration	O
of	O
computing	O
resources	O
and	O
users	O
in	O
a	O
cloud	B-Architecture
computing	I-Architecture
environment	O
also	O
represents	O
a	O
concentration	O
of	O
security	O
threats	O
.	O
</s>
<s>
Data	O
privacy	O
and	O
security	O
-	O
Hosting	O
confidential	O
data	O
with	O
cloud	B-Architecture
service	I-Architecture
providers	I-Architecture
involves	O
the	O
transfer	O
of	O
a	O
considerable	O
amount	O
of	O
an	O
organisation	O
's	O
control	O
over	O
data	O
security	O
to	O
the	O
provider	O
.	O
</s>
<s>
The	O
term	O
"	O
Cloud	B-General_Concept
Robotics	I-General_Concept
"	O
first	O
appeared	O
in	O
the	O
public	O
lexicon	O
as	O
part	O
of	O
a	O
talk	O
given	O
by	O
James	O
Kuffner	O
in	O
2010	O
at	O
the	O
IEEE/RAS	O
International	O
Conference	O
on	O
Humanoid	O
Robotics	O
entitled	O
"	O
Cloud-enabled	O
Robots	O
"	O
.	O
</s>
<s>
Since	O
then	O
,	O
"	O
Cloud	B-General_Concept
Robotics	I-General_Concept
"	O
has	O
become	O
a	O
general	O
term	O
encompassing	O
the	O
concepts	O
of	O
information	O
sharing	O
,	O
distributed	O
intelligence	O
,	O
and	O
fleet	O
learning	O
that	O
is	O
possible	O
via	O
networked	O
robots	O
and	O
modern	O
cloud	B-Architecture
computing	I-Architecture
.	O
</s>
<s>
Kuffner	O
was	O
part	O
of	O
Google	O
when	O
he	O
delivered	O
his	O
presentation	O
and	O
the	O
technology	O
company	O
has	O
teased	O
its	O
various	O
cloud	B-General_Concept
robotics	I-General_Concept
initiatives	O
until	O
2019	O
when	O
it	O
launched	O
the	O
Google	O
Cloud	B-General_Concept
Robotics	I-General_Concept
Platform	O
for	O
developers	O
.	O
</s>
<s>
The	O
term	O
"	O
cloud	B-Architecture
computing	I-Architecture
"	O
was	O
popularized	O
with	O
the	O
launch	O
of	O
Amazon	B-General_Concept
EC2	I-General_Concept
in	O
2006	O
.	O
</s>
<s>
It	O
marked	O
the	O
availability	O
of	O
high-capacity	O
networks	O
,	O
low-cost	O
computers	O
and	O
storage	O
devices	O
as	O
well	O
as	O
the	O
widespread	O
adoption	O
of	O
hardware	B-General_Concept
virtualization	I-General_Concept
and	O
service-oriented	O
architecture	O
.	O
</s>
<s>
Some	O
publications	O
and	O
events	O
related	O
to	O
Cloud	B-General_Concept
Robotics	I-General_Concept
(	O
in	O
chronological	O
order	O
)	O
:	O
</s>
<s>
James	O
J	O
.	O
Kuffner	O
,	O
a	O
former	O
CMU	O
robotics	O
professor	O
,	O
and	O
research	O
scientist	O
at	O
Google	O
,	O
now	O
CEO	O
of	O
Toyota	O
Research	O
Institute	O
—	O
Advanced	O
Development	O
,	O
spoke	O
on	O
cloud	B-General_Concept
robotics	I-General_Concept
in	O
IEEE/RAS	O
International	O
Conference	O
on	O
Humanoid	O
Robotics	O
2010	O
.	O
</s>
<s>
It	O
describes	O
"	O
a	O
new	O
approach	O
to	O
robotics	O
that	O
takes	O
advantage	O
of	O
the	O
Internet	O
as	O
a	O
resource	O
for	O
massively	O
parallel	B-Operating_System
computation	I-Operating_System
and	O
sharing	O
of	O
vast	O
data	O
resources.	O
"	O
</s>
<s>
Ryan	O
Hickman	O
,	O
a	O
Google	O
Product	O
Manager	O
,	O
led	O
an	O
internal	O
volunteer	O
effort	O
in	O
2010	O
to	O
connect	O
robots	O
with	O
the	O
Google	O
's	O
cloud	B-Architecture
services	I-Architecture
.	O
</s>
<s>
This	O
work	O
was	O
later	O
expanded	O
to	O
include	O
open	B-License
source	I-License
ROS	B-Application
support	O
and	O
was	O
demonstrated	O
on	O
stage	O
by	O
Ryan	O
Hickman	O
,	O
Damon	O
Kohler	O
,	O
Brian	O
Gerkey	O
,	O
and	O
Ken	O
Conley	O
at	O
Google	O
I/O	O
2011	O
.	O
</s>
<s>
NRI	O
Workshop	O
on	O
Cloud	B-General_Concept
Robotics	I-General_Concept
:	O
Challenges	O
and	O
Opportunities	O
-	O
February	O
2013	O
.	O
</s>
<s>
Cloud-Based	B-Architecture
Robot	O
Grasping	O
with	O
the	O
Google	O
Object	O
Recognition	O
Engine	O
.	O
</s>
<s>
2013	O
IEEE	O
IROS	O
Workshop	O
on	O
Cloud	B-General_Concept
Robotics	I-General_Concept
.	O
</s>
<s>
Cloud	O
Robotics-Enable	O
cloud	B-Architecture
computing	I-Architecture
for	O
robots	O
.	O
</s>
<s>
The	O
author	O
proposed	O
some	O
paradigms	O
of	O
using	O
cloud	B-Architecture
computing	I-Architecture
in	O
robotics	O
.	O
</s>
<s>
Special	O
Issue	O
on	O
Cloud	B-General_Concept
Robotics	I-General_Concept
and	O
Automation	O
-	O
A	O
special	O
issue	O
of	O
the	O
IEEE	O
Transactions	O
on	O
Automation	O
Science	O
and	O
Engineering	O
,	O
April	O
2015	O
.	O
</s>
<s>
DARPA	O
Cloud	B-General_Concept
Robotics	I-General_Concept
.	O
</s>
<s>
The	O
first	O
industrial	O
cloud	B-General_Concept
robotics	I-General_Concept
platform	O
,	O
Tend	O
,	O
was	O
founded	O
by	O
Mark	O
Silliman	O
,	O
James	O
Gentes	O
and	O
Robert	O
Kieffer	O
in	O
February	O
2017	O
.	O
</s>
