Parallel processing approaches in robotics

Abstract

-This paper presents the different possibilities for parallel processing in robot control architectures. At the beginning, we shortly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As our main topic, we identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work we refer to.

Distributed Autonomous Robotic Systems 3

“…Together with the interconnection unit, this enables a component to fulfill a given task by cooperating with the other components. This introduces parallel processing on the algorithm level of a robot control architecture, confer (Henrich and Honiger, 1997). For example, with a motion planning component, such a function may generate a collision-free path from a given start to a goal configuration in a given environment (see Section 5).…”

“…The proposed control architecture covers several··levels of parallelism introduced in (Henrich and Honiger, 1997). It can be clearly seen that parallelism at the robotics level is supported by the component concept when running components on different PEs.…”

A parallel control architecture for industrial robot cells

“…Requirements on robot control architectures can be described from a general point of view (Fayek et al, 1993), for manufacturing systems (Dilts et al, 1991), and for software architectures of robot control (Fleury et al, 1994). Important requirements from the parallel processing point of view are reported in (Henrich and Höniger, 1997).…”

Improved Communication Between Manufacturing Robots

“…Hierarchy structures can allow for optimal performance, but problems could arise within the communication system with computational bottlenecks, reaction capability, and robustness [3].…”