A constrained guess-check approach for resource allocation in the robot control system design

He, Xingyun and Zielinski, Cezary and Davy, Steven and Shi, Lei (2016) A constrained guess-check approach for resource allocation in the robot control system design. In: Mechanisms and Machine Science :. Mechanisms and Machine Science . Kluwer Academic Publishers, pp. 913-925. ISBN 9783319233260

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Abstract

Nowadays robots are applied in many diversified industry fields, and even in our daily life. The structure of robots becomes more and more sophisticated, so designing and building such robots is not easy due to the growing complexity of the control systems structure. Therefore, many researchers focus on robot programming frameworks in order to simplify the process of designing and building robots. However, how to assemble agents, tasks and resources when building a robot is an important problem demanding efficient solution in the robot programming frameworks. In this paper, we present an approach, which can allocate the tasks of a robot to each agent according to the computational ability of agents, the execution time of tasks, and certain constraints, and can help manage all the resources (i.e., effectors and receptors) in the way which gives the structure with the least number of connections between agents. The allocation is proved to be Pareto Optimal.

Item Type:	Book Section
Additional Information:	Publisher Copyright: © Springer International Publishing Switzerland 2016.
Uncontrolled Keywords:	/dk/atira/pure/subjectarea/asjc/2200/2211
Departments or Groups:
Depositing User:	Admin SSL
Date Deposited:	19 Oct 2022 23:14
Last Modified:	07 Jun 2023 18:37
URI:	http://repository-testing.wit.ie/id/eprint/4807

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