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.
, Wheatley, T.
and Lumia, R.
Exploiting Computational Parallelism with a Hierarchical Robot Control System, Ieee Journal Of Robotics And Automation, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820239
(Accessed December 10, 2023)