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A dynamically distributed control framework for robot teams
University of Toronto.
University of Toronto.ORCID iD: 0000-0003-4977-6339
2014 (English)In: International Journal of Robotics and Automation, ISSN 0826-8185, Vol. 29, no 3, p. 312-318Article in journal (Refereed) Published
Abstract [en]

This paper discusses an implementation of a versatile architecture, labelled as HAA (Host, Avatar, Agent), using provably correct distributed algorithms. The HAA architecture lays a foundation on which virtually any type of control system can be built, while providing features such as dynamically distributed processing, distributed database, and failure recovery. The algorithms for the key components of the architecture are specified, including host membership service, agent allocation, agent transfer, and agent recovery. The first component controls the processing network, while the second component oversees the dynamic distribution of processes. The third component ensures that processes are transparently transferred without any loss of data, and the fourth component facilitates the recovery of failed processes. The real-time performance of the algorithms was measured in experiments for mapping, exploration, and foraging and proved to be effective for the system sizes tested.

Place, publisher, year, edition, pages
2014. Vol. 29, no 3, p. 312-318
Keyword [en]
Control system architecture, Distributed systems, Fault tolerance, Robot teams
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-5826DOI: 10.2316/Journal.206.2014.3.206-4145Scopus ID: 84904960535Local ID: 403c014e-6867-412b-a541-abb4bead6088OAI: oai:DiVA.org:ltu-5826DiVA: diva2:978702
Note
Upprättat; 2014; 20141107 (maljen)Available from: 2016-09-29 Created: 2016-09-29 Last updated: 2017-12-15Bibliographically approved

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Emami, Reza
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CiteExportLink to record
Permanent link

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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf