Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
| Autor: | Raj Kamal, Manju K. Chattopadhyay, Rameez Raja Chowdhary |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
General Computer Science Computer science Distributed computing ComputerSystemsOrganization_COMPUTER-COMMUNICATIONNETWORKS Collision avoidance Orchestration Task distribution 02 engineering and technology Robotics QA75.5-76.95 Collision Task (project management) Set (abstract data type) Consistency (database systems) 020901 industrial engineering & automation Communication bandwidth Electronic computers. Computer science 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Parallel running Networks |
| Zdroj: | Journal of King Saud University: Computer and Information Sciences, Vol 33, Iss 10, Pp 1231-1241 (2021) |
| ISSN: | 1319-1578 |
| Popis: | We report a design for an orchestrator controlled robotic network that organises and manages a set of activities through a task allocation model for the robotic nodes. The model also helps to study the robotic-orchestration with the help of centralised and decentralised approaches. Additionally, our model incorporates an innovative collision avoidance algorithm that avoids collision between parallel running robots without any communication between them. The results of the orchestrated, centralised and decentralised approaches are compared using the Paired signed and Wilcoxon signed rank tests. Simulated results, when compared with the experimental data, show that the orchestrated approach is better than the decentralised approach in terms of communication bandwidth and performance’s consistency. In addition, the orchestrated approach is better than the centralised approach, in terms of both communication overloads and task execution time. |
| Databáze: | OpenAIRE |
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