Method of Information Interaction for Distributed Control Systems of Robots with Modular Architecture

Andreev, Viktor; Pletenev, Pavel

doi:10.15622/sp.57.6

Cited by 12 publications

(1 citation statement)

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“…From this point of view, we consider the previous workspecification 1/PIMI [13] (Protocol of intermodule interaction) and the method of information interaction for distributed control systems in robots with modular architecture [14]. In these works, the structure of the modular robot IMCS is used, shown in fig.…”

Section: The Use Of Framework and Standard Librariesmentioning

confidence: 99%

Organizing Network Interaction in Modular Robot with Multilevel Control System

Andreev¹,

Pletenev²

2019

DAAAM Proceedings

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The features of network communication in mobile modular robots with multilevel control system (CS) are considered both inside single layer and between multiple layers. Modular architecture enables implementation of rapid reconfiguration of robotic systems. Most of modern systems are built as one pieceall data streams come to a single powerful onboard computer, which implements the major part of control system. Hierarchical division on modules and submodules with their own CS enables lowering computational load on central parts of control systems via distributing calculations between them, abstracting and fusing data. Implementing such multilevel modular control system places restrictions on the possible means of communication between modules and submodules. In this paper, communicational bonds in a modular robot are being considered and parameters of emerging information flows are being analyzed. Based on this, the requirements for the types of networks and their topologies are presented.

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Section: The Use Of Framework and Standard Librariesmentioning

confidence: 99%