TY - GEN
T1 - Functionally Distributed Control Architecture for Robot Systems
AU - Taira, Tetsuya
AU - Yamasaki, Nobuyuki
N1 - Funding Information:
This study was performed through Special Coordination Funds of the Ministry of Education, Culture, Sports, Science and Technology of the Japanese Government.
Publisher Copyright:
Copyright © (2004) by the International Society for Computers and Their Applications. All rights reserved.
PY - 2004
Y1 - 2004
N2 - This paper describes the design and implementation of functionally distributed control architecture for real-time control of robot systems. Robot systems must control several functions in parallel for decision, action, and recognition. In order to fulfill this requirement, we propose the architecture based on parallel/distributed control. The robot system based on this architecture is designed as a parallel/distributed computer, in which each module has different I/O peripherals and executes functionally distributed and coarse-grained tasks in real-time, cooperating with each other. We also evaluate the efficiency of the proposed architecture through the experience in implementing a prototype robot.
AB - This paper describes the design and implementation of functionally distributed control architecture for real-time control of robot systems. Robot systems must control several functions in parallel for decision, action, and recognition. In order to fulfill this requirement, we propose the architecture based on parallel/distributed control. The robot system based on this architecture is designed as a parallel/distributed computer, in which each module has different I/O peripherals and executes functionally distributed and coarse-grained tasks in real-time, cooperating with each other. We also evaluate the efficiency of the proposed architecture through the experience in implementing a prototype robot.
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M3 - Conference contribution
AN - SCOPUS:48649093335
T3 - 19th International Conference on Computers and Their Applications 2004, CATA 2004
SP - 270
EP - 273
BT - 19th International Conference on Computers and Their Applications 2004, CATA 2004
A2 - Gupta, Bidyut
PB - The International Society for Computers and Their Applications (ISCA)
T2 - 19th International Conference on Computers and Their Applications, CATA 2004
Y2 - 18 March 2004 through 20 March 2004
ER -