{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"institution":[{"id":[{"id":"https:\/\/ror.org\/03mb6wj31","id-type":"ROR","asserted-by":"publisher"},{"id":"https:\/\/www.isni.org\/000000041937028X","id-type":"ISNI","asserted-by":"publisher"},{"id":"https:\/\/www.wikidata.org\/entity\/Q1640731","id-type":"wikidata","asserted-by":"publisher"}],"name":"Universitat Polit\u00e8cnica de Catalunya","acronym":["UPC"]}],"indexed":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T21:57:54Z","timestamp":1768514274173,"version":"3.49.0"},"reference-count":0,"publisher":"Universitat Polit\u00e8cnica de Catalunya","license":[{"content-version":"vor","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by-nc-nd\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"abstract":"<jats:p>Supercomputing, also known as High Performance Computing (HPC), is almost everywhere (ubiquitous), from the small widget in your phone telling you that today will be a sunny day, up to the next great contribution to the understanding of the origins of the universe.However, there is a field where supercomputing has been only slightly explored - robotics. Other than attempts to optimize complex robotics tasks, the two forces lack an effective alignment and a purposeful long-term contract. With advancements in miniaturization, communications and the appearance of powerful, energy and weight optimized embedded computing boards, a next logical transition corresponds to the creation of clusters of robots, a set of robotic entities that behave similarly as a supercomputer does. Yet, there is key aspect regarding our current understanding of what supercomputing means, or is useful for, that this work aims to redefine. For decades, supercomputing has been solely intended as a computing efficiency mechanism i.e. decreasing the computing time for complex tasks. While such train of thought have led to countless findings, supercomputing is more than that, because in order to provide the capacity of solving most problems quickly, another complete set of features must be provided, a set of features that can also be exploited in contexts such as robotics and that ultimately transform a set of independent entities into a cohesive unit.This thesis aims at rethinking what supercomputing means and to devise strategies to effectively set its inclusion within the robotics realm, contributing therefore to the ubiquity of supercomputing, the first main ideal of this work. With this in mind, a state of the art concerning previous attempts to mix robotics and HPC will be outlined, followed by the proposal of High Performance Robotic Computing (HPRC), a new concept mapping supercomputing to the nuances of multi-robot systems. HPRC can be thought as supercomputing in the edge and while this approach will provide all kind of advantages, in certain applications it might not be enough since interaction with external infrastructures will be required or desired. To facilitate such interaction, this thesis proposes the concept of ubiquitous supercomputing as the union of HPC, HPRC and two more type of entities, computing-less devices (e.g. sensor networks, etc.) and humans.The results of this thesis include the ubiquitous supercomputing ontology and an enabling technology depicted as The ARCHADE. The technology serves as a middleware between a mission and a supercomputing infrastructure and as a framework to facilitate the execution of any type of mission, i.e. precision agriculture, entertainment, inspection and monitoring, etc. Furthermore, the results of the execution of a set of missions are discussed.By integrating supercomputing and robotics, a second ideal is targeted, ubiquitous robotics, i.e. the use of robots in all kind of applications. Correspondingly, a review of existing ubiquitous robotics frameworks is presented and based upon its conclusions, The ARCHADE's design and development have followed the guidelines for current and future solutions. Furthermore, The ARCHADE is based on a rethought supercomputing where performance is not the only feature to be provided by ubiquitous supercomputing systems. However, performance indicators will be discussed, along with those related to other supercomputing features.Supercomputing has been an excellent ally for scientific exploration and not so long ago for commercial activities, leading to all kind of improvements in our lives, in our society and in our future. With the results of this thesis, the joining of two fields, two forces previously disconnected because of their philosophical approaches and their divergent backgrounds, holds enormous potential to open up our imagination for all kind of new applications and for a world where robotics and supercomputing are everywhere.<\/jats:p>\n                <jats:p>La supercomputaci\u00f3n, tambi\u00e9n conocida como Computaci\u00f3n de Alto Rendimiento (HPC por sus siglas en ingl\u00e9s) puede encontrarse en casi cualquier lugar (ubicua), desde el widget en tu tel\u00e9fono dici\u00e9ndote que hoy ser\u00e1 un d\u00eda soleado, hasta la siguiente gran contribuci\u00f3n al entendimiento de los or\u00edgenes del universo. Sin embargo, hay un campo en el que ha sido poco explorada - la rob\u00f3tica. M\u00e1s all\u00e1 de intentos de optimizar tareas rob\u00f3ticas complejas, las dos fuerzas carecen de un contrato a largo plazo. Dado los avances en miniaturizaci\u00f3n, comunicaciones y la aparici\u00f3n de potentes computadores embebidos, optimizados en peso y energ\u00eda, la siguiente transici\u00f3n corresponde a la creaci\u00f3n de un cluster de robots, un conjunto de robots que se comportan de manera similar a un supercomputador. No obstante, hay un aspecto clave, con respecto a la comprensi\u00f3n de la supercomputaci\u00f3n, que esta tesis pretende redefinir. Durante d\u00e9cadas, la supercomputaci\u00f3n ha sido entendida como un mecanismo de eficiencia computacional, es decir para reducir el tiempo de computaci\u00f3n de ciertos problemas extremadamente complejos. Si bien este enfoque ha conducido a innumerables hallazgos, la supercomputaci\u00f3n es m\u00e1s que eso, porque para proporcionar la capacidad de resolver todo tipo de problemas r\u00e1pidamente, se debe proporcionar otro conjunto de caracter\u00edsticas que tambi\u00e9n pueden ser explotadas en la rob\u00f3tica y que transforman un conjunto de robots en una unidad cohesiva. Esta tesis pretende repensar lo que significa la supercomputaci\u00f3n y dise\u00f1ar estrategias para establecer su inclusi\u00f3n dentro del mundo de la rob\u00f3tica, contribuyendo as\u00ed a su ubicuidad, el principal ideal de este trabajo. Con esto en mente, se presentar\u00e1 un estado del arte relacionado con intentos anteriores de mezclar rob\u00f3tica y HPC, seguido de la propuesta de Computaci\u00f3n Rob\u00f3tica de Alto Rendimiento (HPRC, por sus siglas en ingl\u00e9s), un nuevo concepto, que mapea la supercomputaci\u00f3n a los matices espec\u00edficos de los sistemas multi-robot. HPRC puede pensarse como supercomputaci\u00f3n en el borde y si bien este enfoque proporcionar\u00e1 todo tipo de ventajas, ciertas aplicaciones requerir\u00e1n una interacci\u00f3n con infraestructuras externas. Para facilitar dicha interacci\u00f3n, esta tesis propone el concepto de supercomputaci\u00f3n ubicua como la uni\u00f3n de HPC, HPRC y dos tipos m\u00e1s de entidades, dispositivos sin computaci\u00f3n embebida y seres humanos. Los resultados de esta tesis incluyen la ontolog\u00eda de la supercomputaci\u00f3n ubicua y una tecnolog\u00eda llamada The ARCHADE. La tecnolog\u00eda act\u00faa como middleware entre una misi\u00f3n y una infraestructura de supercomputaci\u00f3n y como framework para facilitar la ejecuci\u00f3n de cualquier tipo de misi\u00f3n, por ejemplo, agricultura de precisi\u00f3n, inspecci\u00f3n y monitoreo, etc. Al integrar la supercomputaci\u00f3n y la rob\u00f3tica, se busca un segundo ideal, rob\u00f3tica ubicua, es decir el uso de robots en todo tipo de aplicaciones. Correspondientemente, una revisi\u00f3n de frameworks existentes relacionados ser\u00e1n discutidos. El dise\u00f1o y desarrollo de The ARCHADE ha seguido las pautas y sugerencias encontradas en dicha revisi\u00f3n. Adem\u00e1s, The ARCHADE se basa en una supercomputaci\u00f3n repensada donde la eficiencia computacional no es la \u00fanica caracter\u00edstica proporcionada a sistemas basados en la tecnolog\u00eda. Sin embargo, se analizar\u00e1n indicadores de eficiencia computacional, junto con otros indicadores relacionados con otras caracter\u00edsticas de la supercomputaci\u00f3n. La supercomputaci\u00f3n ha sido un excelente aliado para la exploraci\u00f3n cient\u00edfica, conduciendo a todo tipo de mejoras en nuestras vidas, nuestra sociedad y nuestro futuro. Con los resultados de esta tesis, la uni\u00f3n de dos campos, dos fuerzas previamente desconectadas debido a sus enfoques filos\u00f3ficos y sus antecedentes divergentes, tiene un enorme potencial para abrir nuestra imaginaci\u00f3n hacia todo tipo de aplicaciones nuevas y para un mundo donde la rob\u00f3tica y la supercomputaci\u00f3n est\u00e9n en todos lados<\/jats:p>","DOI":"10.5821\/dissertation-2117-171404","type":"dissertation","created":{"date-parts":[[2023,10,6]],"date-time":"2023-10-06T01:45:18Z","timestamp":1696556718000},"approved":{"date-parts":[[2019,10,25]]},"source":"Crossref","is-referenced-by-count":0,"title":["Ubiquitous supercomputing : design and development of enabling technologies for multi-robot systems rethinking supercomputing"],"prefix":"10.5821","author":[{"sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Leonardo","family":"Camargo Forero","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"3865","container-title":[],"original-title":[],"deposited":{"date-parts":[[2026,1,15]],"date-time":"2026-01-15T06:47:10Z","timestamp":1768459630000},"score":1,"resource":{"primary":{"URL":"https:\/\/hdl.handle.net\/2117\/171404"}},"subtitle":[],"editor":[{"given":"Xavier","family":"Prats Men\u00e9ndez","sequence":"first","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]},{"given":"Pablo","family":"Royo Chic","sequence":"additional","affiliation":[],"role":[{"role":"editor","vocabulary":"crossref"}]}],"short-title":[],"issued":{"date-parts":[[null]]},"references-count":0,"URL":"https:\/\/doi.org\/10.5821\/dissertation-2117-171404","relation":{},"subject":[]}}