Internet of robotic things for mobile robots:Concepts,technologies,challenges,applications,and future directions  

作　　者：Homayun Kabir Mau-Luen Tham Yoong Choon Chang 

机构地区：[1]Department of Electrical and Electronic Engineering,Lee Kong Chian Faculty of Engineering and Science,Universiti Tunku Abdul Rahman,Selangor 43000,Malaysia

出　　处：《Digital Communications and Networks》2023年第6期1265-1290,共26页数字通信与网络（英文版）

基　　金：This research was supported by the Ministry of Higher Education,Malaysia(MoHE)through Fundamental Research Grant Scheme(FRGS/1/2021/TK0/UTAR/02/9);The work was also supported by the Universiti Tunku Abdul Rahman(UTAR),Malaysia,under UTAR Research Fund(UTARRF)(IPSR/RMC/UTARRF/2021C1/T05).

摘　　要：Nowadays,Multi Robotic System(MRS)consisting of different robot shapes,sizes and capabilities has received significant attention from researchers and are being deployed in a variety of real-world applications.From sensors and actuators improved by communication technologies to powerful computing systems utilizing advanced Artificial Intelligence(AI)algorithms have rapidly driven the development of MRS,so the Internet of Things(IoT)in MRS has become a new topic,namely the Internet of Robotic Things(IoRT).This paper summarizes a comprehensive survey of state-of-the-art technologies for mobile robots,including general architecture,benefits,challenges,practical applications,and future research directions.In addition,remarkable research of i)multirobot navigation,ii)network architecture,routing protocols and communications,and iii)coordination among robots as well as data analysis via external computing(cloud,fog,edge,edge-cloud)are merged with the IoRT architecture according to their applicability.Moreover,security is a long-term challenge for IoRT because of various attack vectors,security flaws,and vulnerabilities.Security threats,attacks,and existing solutions based on IoRT architectures are also under scrutiny.Moreover,the identification of environmental situations that are crucial for all types of IoRT applications,such as the detection of objects,human,and obstacles,is also critically reviewed.Finally,future research directions are given by analyzing the challenges of IoRT in mobile robots.

关 键 词：Multi Robotic System(MRS) Internet of Things(IoT) Internet of Robotic Things(IoRT) Cloud computing Artificial intelligence(AI) Machine learning(ML) Reinforcement learning(RL) 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]