当前位置: X-MOL 学术ACM Trans. Auton. Adapt. Syst. › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
On Ordering Multi-Robot Task Executions within a Cyber Physical System
ACM Transactions on Autonomous and Adaptive Systems ( IF 2.7 ) Pub Date : 2017-11-15 , DOI: 10.1145/3124677
Tushar Semwal 1 , Shashi Shekhar Jha 1 , Shivashankar B. Nair 1
Affiliation  

With robots entering the world of Cyber Physical Systems (CPS), ordering the execution of allocated tasks during runtime becomes crucial. This is so because, in the real world, there can be several physical tasks that use shared resources that need to be executed concurrently. In this article, we propose a mechanism to solve this issue of ordering task executions within a CPS that inherently handles mutual exclusion. The mechanism caters to a decentralized and distributed CPS comprising nodes such as computers, robots, and sensor nodes and uses mobile software agents that knit through them to aid the execution of the various tasks while also ensuring mutual exclusion of shared resources. The computations, communications, and control are achieved through these mobile agents. Physical execution of the tasks is performed by the robots in an asynchronous and pipelined manner without the use of a clock. The mechanism also features addition and deletion of tasks and insertion and removal of robots facilitating On-The-Fly Programming . As an application, a Warehouse Management System as a CPS has been implemented. The article concludes with the results and discussions on using the mechanism in both emulated and real-world environments.

中文翻译:

关于在网络物理系统中排序多机器人任务执行

随着机器人进入网络物理系统 (CPS) 的世界,在运行时命令执行分配的任务变得至关重要。之所以如此,是因为在现实世界中,可能有多个使用共享资源的物理任务需要同时执行。在本文中,我们提出了一种机制来解决在本质上处理互斥的 CPS 中排序任务执行的问题。该机制迎合由计算机、机器人和传感器节点等节点组成的分散和分布式 CPS,并使用通过它们编织的移动软件代理来帮助执行各种任务,同时确保共享资源的互斥。计算、通信和控制是通过这些移动代理实现的。任务的物理执行由机器人以异步和流水线方式执行,无需使用时钟。该机制还具有任务的添加和删除以及机器人的插入和删除,从而促进即时编程. 作为应用程序,已实施了作为 CPS 的仓库管理系统。文章以在仿真和现实环境中使用该机制的结果和讨论结束。
更新日期:2017-11-15
down
wechat
bug