# FogROS2-FT: Fault Tolerant Cloud Robotics

arXiv: https://arxiv.org/abs/2412.05408 · HTML: https://mlsanity.com/paper/2412.05408/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 13 of its 48 references that are in the map.
- First posted on arXiv 6 Dec 2024.

## Builds on (most cited first, 13 of 13)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [You Only Look Once: Unified, Real-Time Object Detection](https://mlsanity.com/paper/1506.02640/) (2015)
- [Robot Operating System 2: Design, Architecture, and Uses In The Wild](https://mlsanity.com/paper/2211.07752/) (2022)
- [RT-LM: Uncertainty-Aware Resource Management for Real-Time Inference of Language Models](https://mlsanity.com/paper/2309.06619/) (2023)
- [FogROS: An Adaptive Framework for Automating Fog Robotics Deployment](https://mlsanity.com/paper/2108.11355/) (2021)
- [Leveraging Cloud Computing to Make Autonomous Vehicles Safer](https://mlsanity.com/paper/2308.03204/) (2023)
- [FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2](https://mlsanity.com/paper/2205.09778/) (2022)
- [Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2](https://mlsanity.com/paper/2403.10494/) (2024)
- [A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering](https://mlsanity.com/paper/1903.09589/) (2019)
- [A Fog Robotic System for Dynamic Visual Servoing](https://mlsanity.com/paper/1809.06716/) (2018)
- [Fog Robotics for Efficient, Fluent and Robust Human-Robot Interaction](https://mlsanity.com/paper/1811.05578/) (2018)
- [FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity](https://mlsanity.com/paper/2306.17157/) (2023)
- [Spot Pricing in the Cloud Ecosystem: A Comparative Investigation](https://mlsanity.com/paper/1708.01401/) (2017)

## Built on by (most cited first, 1 of 1)

- [[Emerging Ideas] Artificial Tripartite Intelligence: A Bio-Inspired, Sensor-First Architecture for Physical AI](https://mlsanity.com/paper/2604.13959/) (2026)

## Abstract (arXiv)

Cloud robotics enables robots to offload complex computational tasks to cloud servers for performance and ease of management. However, cloud compute can be costly, cloud services can suffer occasional downtime, and connectivity between the robot and cloud can be prone to variations in network Quality-of-Service (QoS). We present FogROS2-FT (Fault Tolerant) to mitigate these issues by introducing a multi-cloud extension that automatically replicates independent stateless robotic services, routes requests to these replicas, and directs the first response back. With replication, robots can still benefit from cloud computations even when a cloud service provider is down or there is low QoS. Additionally, many cloud computing providers offer low-cost spot computing instances that may shutdown unpredictably. Normally, these low-cost instances would be inappropriate for cloud robotics, but the fault tolerance nature of FogROS2-FT allows them to be used reliably. We demonstrate FogROS2-FT fault tolerance capabilities in 3 cloud-robotics scenarios in simulation (visual object detection, semantic segmentation, motion planning) and 1 physical robot experiment (scan-pick-and-place). Running on the same hardware specification, FogROS2-FT achieves motion planning with up to 2.2x cost reduction and up to a 5.53x reduction on 99 Percentile (P99) long-tail latency. FogROS2-FT reduces the P99 long-tail latency of object detection and semantic segmentation by 2.0x and 2.1x, respectively, under network slowdown and resource contention.