CORTEX as an Enabler of Multi-platform Integration in Internet of Robotics Things ecosystems

The integration of robotic technology in an Internet of Things (IoT) environment is known as the Internet of Robotics Things (IoRT). The benefits that this integration can bring have been highlighted in recent publications. One of the application scenarios is the Ambient Assistant Living (AAL) environment. The environment is equipped with appropriate sensors to provide the robot with more detailed knowledge of the context, while the robot can move around the environment and interact with the people in it, capturing knowledge that can help to improve the AAL’s behaviour. This paper describes the deployment of an IoRT ecosystem within a small apartment based on the CORTEX software architecture. The use of CORTEX has allowed us to integrate different frameworks (wireless network, micro-ROS, ROS 2, RoboComp, Mira) into this ecosystem relatively easily, connecting them all to the same knowledge representation. In addition to other use cases, the main goal of this deployment is to be able to monitor both the position and certain vital parameters of an elderly person living alone at home. ; This work is granted by PDC2022-133597-C42, TED2021-131739B-C21 and PID2022-137344OB-C32, funded by MCIN/AEI/10.13039/501100011033 and by the European Union NextGeneration EU/PRTR (for the first two grants), and "ERDF A way of making Europe" (for the third grant).