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Resource scheduling and load balancing in distributed robotic control systems

โœ Scribed by Colin McMillen; Kristen N. Stubbs; Paul E. Rybski; Sascha A. Stoeter; Maria Gini; Nikolaos P. Papanikolopoulos

Publisher
Elsevier Science
Year
2003
Tongue
English
Weight
196 KB
Volume
44
Category
Article
ISSN
0921-8890

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โœฆ Synopsis

This paper describes the latest advances made to a software architecture designed to control multiple miniature robots. As the robots themselves have very limited computational capabilities, a distributed control system is needed to coordinate tasks among a large number of robots. Two of the major challenges facing such a system are the scheduling of access to system resources and the distribution of work across multiple workstations. This paper discusses solutions to these problems in the context of a distributed surveillance task.

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There have been many studies of load balancing in computer systems, for which various algorithms have been proposed. The load balancing methods to date can largely be divided into two types. In the first method, the load information is exchanged among the nodes, and the loads of the nodes are balanc