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dc.contributor.authorCardaillac, Alexandre
dc.contributor.authorLudvigsen, Martin
dc.date.accessioned2022-11-21T10:25:26Z
dc.date.available2022-11-21T10:25:26Z
dc.date.issued2022-08-10
dc.description.abstractTo enable high computational loads for low cost underwater drones, a cloud based architecture is proposed to take advantage of recent development in machine learning and computer vision. The processing power made available will benefit vehicles with limited onboard processing capacity. The rapid development of cloud computing services have made servers with significant computational resources easier to access. In this paper, a communication interface for cloud based multilayer architecture is proposed to enable real time performance by distributing the workload to networked processing devices. It adopts a publish-subscribe model for efficient communication between the layers. The latency and workload distribution are evaluated to assess the efficiency of the proposed method. An application to semantic segmentation of under-water scenes is also tested to measure the framework capabilities for real-time operation using more resource-demanding tools. The conducted experiments resulted in time and performance gains through offloading the underwater vehicle, and forwarding the computations to the cloud based layer.en_US
dc.identifier.citationCardaillac A, Ludvigsen M L. A Communication Interface for Multilayer Cloud Computing Architecture for Low Cost Underwater Vehicles. IFAC-PapersOnLine. 2022;55(14):77-82en_US
dc.identifier.cristinIDFRIDAID 2062083
dc.identifier.doi10.1016/j.ifacol.2022.07.586
dc.identifier.issn2405-8963
dc.identifier.urihttps://hdl.handle.net/10037/27433
dc.language.isoengen_US
dc.publisherElsevieren_US
dc.relation.journalIFAC-PapersOnLine
dc.relation.projectIDinfo:eu-repo/grantAgreement/EC/INDUSTRIAL LEADERSHIP/871260/EU/Autonomous Robotic Inspection and Maintenance on Ship Hulls and Storage Tanks/BugWright2/en_US
dc.rights.accessRightsopenAccessen_US
dc.rights.holderCopyright 2022 The Author(s)en_US
dc.rights.urihttps://creativecommons.org/licenses/by-nc-nd/4.0en_US
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)en_US
dc.titleA Communication Interface for Multilayer Cloud Computing Architecture for Low Cost Underwater Vehiclesen_US
dc.type.versionpublishedVersionen_US
dc.typeJournal articleen_US
dc.typeTidsskriftartikkelen_US
dc.typePeer revieweden_US


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Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 International (CC BY-NC-ND 4.0)