An adaptive thin-client robot control architecture

Author

Edmonds, Tim ; Hodges, Steve ; Hopper, Andy

Author_Institution

Dept. of Eng., Cambridge Univ., UK

fYear

1999

fDate

1999

Firstpage

216

Lastpage

219

Abstract

Describes an architecture and runtime system to implement distributed control and data processing applications in a thin-client manner, suitable for implementing a thin-client mobile robotics system. The system varies control fidelity and locality to adapt a control application to changes in QoS (quality of service) availability and processing resources using a cost-benefit model. An example application is presented in which the architecture is used to implement the distributed control of an inverted pendulum over a shared network. Performance results are compared with non-adaptive distributed control approaches

Keywords

adaptive control; computer architecture; cost-benefit analysis; distributed control; mobile robots; multi-robot systems; network computers; nonlinear control systems; pendulums; quality of service; adaptive thin-client robot control architecture; control fidelity; control locality; cost-benefit model; data processing applications; distributed control; inverted pendulum; mobile robotics system; performance; processing resources; runtime system; service quality availability; shared network; Actuators; Adaptive control; Communication system control; Control systems; Delay; Distributed control; Mobile communication; Programmable control; Quality of service; Robot control;

fLanguage

English

Publisher

ieee

Conference_Titel

Real-Time Computing Systems and Applications, 1999. RTCSA '99. Sixth International Conference on

Conference_Location

Hong Kong

Print_ISBN

0-7695-0306-3

Type

conf

DOI

10.1109/RTCSA.1999.811228

Filename

811228