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A Workbench for Quantitative Comparison of Databases in Multi-Robot Applications

  • Robots generate large amounts of data which need to be stored in a meaningful way such that they can be used and interpreted later. Such data can be written into log files, but these files lack the querying features and scaling capabilities of modern databases - especially when dealing with multi-robot systems, where the trade-off between availability and consistency has to be resolved. However, there is a plethora of existing databases, each with its own set of features, but none designed with robotic use cases in mind. This work presents three main contributions: (a) structures for benchmarking scenarios with a focus on networked multi-robot architectures, (b) an extensible workbench for benchmarking databases for different scenarios that makes use of Docker containers and (c) a comparison of existing databases given a set of multi-robot use cases to showcase the usage of the framework. The comparison gives indications for choosing an appropriate database.

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Document Type:Conference Object
Author:Rubanraj Ravichandran, Nico Huebel, Sebastian Blumenthal, Erwin Prassler
Parent Title (English):2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 1-5, 2018, Madrid, Spain
First Page:3744
Last Page:3750
Date of first publication:2019/01/07
This work was supported by the European Union’s Horizon 2020 projects ROPOD (grant agreement No 731848) and RobMoSys (grant agreement No 732410).
Tag:Distributed Robot Systems; Middleware and Programming Environments; Networked Robots; Software
Departments, institutes and facilities:Fachbereich Informatik
Projects:ROPOD - Ultra-flat, ultra-flexible, cost-effective robotic pods for handling legacy in logistics (EC/H2020/731848)
Dewey Decimal Classification (DDC):0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Entry in this database:2018/09/06