Published March 4, 2021 | Version Accepted pre-print
Journal article Open

The Penetration of Internet of Things in Robotics: Towards a Web of Robotic Things

  • 1. Research Centre on Interactive Media, Smart Systems and Emerging Technologies (RISE), Nicosia, Cyprus and Dept. of Computer Science, University of Twente, Enschede, The Netherlands
  • 2. Dept. of Electrical Engineering, University of Twente, Enschede, The Netherlands


As the Internet of Things (IoT) penetrates dierent domains and application areas, it has recently entered also the world of robotics. Robotics constitutes a modern and fast-evolving technology, increasingly being used in industrial, commercial and domestic settings.
IoT, together with the Web of Things (WoT) could provide many benefits to robotic systems. Some of the benefits of IoT in
robotics have been discussed in related work. This paper moves one step further, studying the actual current use of IoT in robotics,
through various real-world examples encountered through a bibliographic research. The paper also examines the potential ofWoT,
together with robotic systems, investigating which concepts, characteristics, architectures, hardware, software and communication
methods of IoT are used in existing robotic systems, which sensors and actions are incorporated in IoT-based robots, as well as in
which application areas. Finally, the current application of WoT in robotics is examined and discussed.


This work has been partly supported by the project that has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 739578 (RISE – Call: H2020-WIDESPREAD-01-2016-2017-TeamingPhase2) and the Government of the Republic of Cyprus through the Directorate General for European Programmes, Coordination and Development.



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RISE – Research Center on Interactive Media, Smart System and Emerging Technologies 739578
European Commission