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ICRA
2003
IEEE

Scalability and schedulability in large, coordinated, distributed robot systems

9 years 15 days ago
Scalability and schedulability in large, coordinated, distributed robot systems
— Multiple, independent robot platforms promise significant advantage with respect to robustness and flexibility. However, coordination between otherwise independent robots requires the exchange of information; either implicitly (as in gestural communication), or explicitly (as in message passing in a communication network.) In either case, control processes resident on all coordinated peers must participate in the collective behavior. This paper evaluates the potential to scale such a coupled control framework to many participating individuals, where scalability is evaluated in terms of the schedulability of coupled, distributed control processes. We examine how schedulability affects the scalability of a robot system, and discuss an algorithm used for offline schedulability analysis of a distributed task model. We present a distributed coordinated search task and analyze the schedulability of the designed task structure. We are able to analyze communication delays in the system t...
John Sweeney, Huan Li, Roderic A. Grupen, Krithi R
Added 04 Jul 2010
Updated 04 Jul 2010
Type Conference
Year 2003
Where ICRA
Authors John Sweeney, Huan Li, Roderic A. Grupen, Krithi Ramamritham
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