Agent-based distributed architecture for mobile robot control

Posadas, Juan Luis; Poza, J.L.; Simó, José; Benet, G.; Noguera, Juan Francisco Blanes

doi:10.1016/j.engappai.2007.07.008

Cited by 69 publications

(33 citation statements)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…2 as a dashed elipse. The resultant task set is not known in advance because these are dynamically defined according to code delegate (Posadas et al, 2008;Emberson and Bate, 2007). Nevertheless, existing mode change protocols for real-time systems (Real and Crespo, 2004) can be adjusted and applied to the movement of real-time components.…”

Section: P(f(t T(t)))dtmentioning

confidence: 99%

High performance dynamic voltage/frequency scaling algorithm for real-time dynamic load management

Coronel

Simó

2012

Journal of Systems and Software

Self Cite

View full text Add to dashboard Cite

Modern cyber-physical systems assume a complex and dynamic interaction between the real world and the computing system in real-time. In this context, changes in the physical environment trigger changes in the computational load to execute. On the other hand, task migration services offered by networked control systems require also management of dynamic real-time computing load in nodes. In such systems it would be difficult, if not impossible, to analyse off-line all the possible combinations of processor loads. For this reason, it is worthwhile attempting to define new flexible architectures that enable computing systems to adapt to potential changes in the environment.We assume a system composed by three main components: the first one is responsible of the manage-ment of the requests arisen when new tasks require to be executed. This management component asks to the second component about the resources available to accept the new tasks. The second component performs a feasibility analysis to determine if the new tasks can be accepted coping with its real-time constraints. A new processor speed is also computed. A third component monitors the execution of tasks applying a fixed priority scheduling policy and additionally controlling the frequency of the processor. This paper focus on the second component providing a "correct" (a task never is accepted if it is not schedulable) and "near-exact" (a task is rarely rejected if it is schedulable) algorithm that can be appli-cable in practice because its low/medium and predictable computational cost. The algorithm analyses task admission in terms of processor frequency scaling. The paper presents the details of a novel algo-rithm to analyse tasks admission and processor frequency assignment. Additionally, we perform several simulations to evaluate the comparative performance of the proposed approach. This evaluation is made in terms of energy consumption, task rejection ratios, and real computing costs. The results of simula-tions show that from the cost, execution predictability, and task acceptance points of view, the proposed algorithm mostly outperforms other constant voltage scaling algorithms.

show abstract

Section: P(f(t T(t)))dtmentioning

confidence: 99%

High performance dynamic voltage/frequency scaling algorithm for real-time dynamic load management

Coronel

Simó

2012

Journal of Systems and Software

Self Cite

View full text Add to dashboard Cite

show abstract

“…But this information gives a limited knowledge about the state of the environment and does not allow the robot to take an intelligent decision while navigating in a dynamic and unknown environment. In (Posadas et al, 2008) a multi-agent system is proposed to control the navigation of robot by using a hybrid approach (it uses a motion planning). The architecture is composed of two levels; reactive and deliberative.…”

Section: Multi-agent Systems and Robotic Simulationmentioning

confidence: 99%

“…In this case, we choose the fuzzy logic technique because it is faster when the frequency of the environment's changes is high. In the field of multi-agent systems, several works have encouraged researchers to develop models simulating robot's behaviours in order to achieve a known target (Posadas et al, 2008). They are more flexible and fault tolerant as several simple agents are easier to handle and cheaper to build.…”

mentioning

confidence: 99%

A Reactive Anticipation for Autonomous Robot Navigation

Ayari¹,

Hadouaj²,

Ghédira³

2012

Serial and Parallel Robot Manipulators - Kinematics, Dynamics, Control and Optimization

View full text Add to dashboard Cite

“…The communications framework is the base that enables the necessary interaction between reactive and deliberative levels, by sending distributed sensory information to tasks at both levels and sending actions to actuators. Deliberative and reactive tasks can be structured in a natural way by means of independent software components [6].…”

Section: Introductionmentioning

confidence: 99%

A Grammatical Approach to the Modeling of an Autonomous Robot

López-García¹,

Gallego-Sánchez²,

Dalmau-Espert³

et al. 2012

IJIMAI

View full text Add to dashboard Cite

-30- Abstract -Virtual Worlds Generator is a grammatical model that is proposed to define virtual worlds. It integrates the diversity of sensors and interaction devices, multimodality and a virtual simulation system. Its grammar allows the definition and abstraction in symbols strings of the scenes of the virtual world, independently of the hardware that is used to represent the world or to interact with it. A case study is presented to explain how to use the proposed model to formalize a robot navigation system with multimodal perception and a hybrid control scheme of the robot. The result is an instance of the model grammar that implements the robotic system and is independent of the sensing devices used for perception and interaction. As a conclusion the Virtual Worlds Generator adds value in the simulation of virtual worlds since the definition can be done formally and independently of the peculiarities of the supporting devices.

show abstract

Agent-based distributed architecture for mobile robot control

Cited by 69 publications

References 15 publications

High performance dynamic voltage/frequency scaling algorithm for real-time dynamic load management

High performance dynamic voltage/frequency scaling algorithm for real-time dynamic load management

A Reactive Anticipation for Autonomous Robot Navigation

A Grammatical Approach to the Modeling of an Autonomous Robot

Contact Info

Product

Resources

About