Software-Defined Robotics: Architecture, Information Model, and Implementation

Recent advancements in computing, network speeds, and cloud technology have led to the emergence of Software-Defined x (SDx), a concept that promotes a shift from traditional hardware-dependent systems to more flexible, software-defined environments. In the context of robotics, this approach is termed Software-Defined Robotics (SDR), which aims to abstract hardware functions into software, enabling dynamic development and deployment of robotic applications without the need for extensive hardware modifications. This paper proposes the architecture of SDR to enhance flexibility, interoperability, and portability in robotic systems, which is designed based on the information models defined in ISO/DIS 22166-202 and ISO 22166-201. This paper demonstrates the feasibility of SDR using the TurtleBot3 as a case study. The proposed approach is validated by showing two similar but distinct SDR implementations for the TurtleBot3 through Gazebo simulation. The results emphasize the potential of SDR to revolutionize the development and management of robotic systems by reducing hardware dependency and fostering innovation. This paper provides a comprehensive overview of the architecture, advantages, and constraints of SDR and presents an implementation model based on the TurtleBot3, providing insights into future developments in software-defined robotics.