Investigate distributed architecture for running inference in remote machine using dora

[francocipollone]

Summary

• Investigate how to plan a distributed system for:

  • Running inference in a local (powerful) machine
  • Running actions on the onboard computer (Rpi5 most probably)

• Using dora as middleware.

• Most probably the setup will be:

  • Run inference to get trajectories (remote) (same network)
  • Follow trajectories (local)

Definition of done

Propose an architecture for this use case. Gather requirements and run the PoC that are necessary. Document in this ticket.