Physical Sciences and Mathematics Commons^™

Scalability And Schedulability In Large, Coordinated, Distributed Robot Systems, John D. Sweeney, Huan Li, Roderic Grupen, Krithi Ramamritham

Roderic Grupen

Multiple, independent robot platforms promise significant advantage with respect to robustness and flexibility. However, coordination between otherwise independent robots requires the exchange of information; either implicitly (as in gestural communication), or explicitly (as in message passing in a communication network.) In either case, control processes resident on all coordinated peers must participate in the collective behavior. This paper evaluates the potential to scale such a coupled control framework to many participating individuals, where scalability is evaluated in terms of the schedulability of coupled distributed control processes. We examine how schedulability affects the scalability of a robot system, and discuss an …