Michaloski, J.
, Wheatley, T.
and Lumia, R.
(1988),
Exploiting Computational Parallelism with a Hierarchical Robot Control System, Ieee Journal Of Robotics And Automation, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820239
(Accessed November 8, 2024)
Official websites use .gov
A .gov website belongs to an official government organization in the United States.
Secure .gov websites use HTTPS
A lock (
) or https:// means you’ve safely connected to the .gov website. Share sensitive information only on official, secure websites.
Exploiting Computational Parallelism with a Hierarchical Robot Control System
Published
Author(s)
, ,
Abstract
Sequential machines do not provide enough computational perfomance for a real-time robot control system. Hierarchical structuring will be considered not only as a software development methodology, but also as a means for implementing a robot control system on a pipelined parallel architecture to maximize performance. The concept of "virtual control loops" will be introduced as a framework in which to discuss execution and communication of parallel levels within a hierarchical control system. Timing requirements of a hierarchical control system and control level will be modeled. Timing analysis will motivate the discussion for control levels that exhibit a short-term executor monitoring cyclic response behavior and a long-term planner anticipating the future. A control level software template will be presented that combines concurrent executors and planners with interprocessor communication.Citation
Ieee Journal Of Robotics And Automation
Pub Type
Journals
Download Paper
Citation
Issues
If you have any questions about this publication or are having problems accessing it, please contact reflib@nist.gov.
Created April 29, 1988, Updated February 17, 2017