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Exploiting Computational Parallelism with a Hierarchical Robot Control System



John L. Michaloski, Thomas E. Wheatley, Ronald Lumia


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.
Ieee Journal Of Robotics And Automation


Michaloski, J. , Wheatley, T. and Lumia, R. (1988), Exploiting Computational Parallelism with a Hierarchical Robot Control System, Ieee Journal Of Robotics And Automation, [online], (Accessed June 23, 2024)


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Created April 29, 1988, Updated February 17, 2017