IPSec: The New Security Standard for the Internet, Intranets, and Virtual Private Networks
IPSec: The New Security Standard for the Internet, Intranets, and Virtual Private Networks
Overview of GridRPC: A Remote Procedure Call API for Grid Computing
GRID '02 Proceedings of the Third International Workshop on Grid Computing
A Scalable Approach to Network Enabled Servers (Research Note)
Euro-Par '02 Proceedings of the 8th International Euro-Par Conference on Parallel Processing
Grid Programming for Distributed Remote Robot Control
WETICE '04 Proceedings of the 13th IEEE International Workshops on Enabling Technologies: Infrastructure for Collaborative Enterprises
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This paper describes a research project about robot control across a computing Grid, first step toward a Grid solution for generic process control. A computational Grid can significantly improve remote robot control. It can choose at any time the most suitable machine for each task, transparently run redundant computations for critical operations, adding fault tolerance, allowing robotic system sharing among remote partners. We built a Grid spanning France and Italy and successfully controlled a navigating robot and a robotic arm. Our Grid is based on the GridRPC paradigm, the DIET environment and an IPSEC-based VPN. We turned some modules of robotic applications into Grid services. Finally we developed a high-level API, specializing the GridRPC paradigm for our purposes, and a semantics for quickly adding new Grid services.