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A contribution to parallelization of symbolic robot models

Published online by Cambridge University Press:  09 March 2009

N. Kirćanski ,
T. Davidović  and
M. Vukobratović
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Summary

This paper is focused on task scheduling in multiprocessor robot controllers. To minimize the input-output time delay our consideration is restricted to parallel architectures that include complete crossbar interconnection networks. In this paper, an efficient scheduling algorithm based on a heuristic function is considered. This function takes into account delays caused by interprocessor communication and minimizes both the execution time and the communication cost. Robot control computation based on a highly efficient customized symbolic method is decomposed into a large number of simple tasks, each involving a single floating-point operation. Starting with an empty partial schedule, each step of the search extends the current partial schedule by adding one of the tasks yet to be scheduled. The heuristic function used in the algorithm actively directs the search for a feasible schedule, i.e. it helps choose the task that extends the current partial schedule. To increase the computational rate we introduced overlapping of computations.

Type
Articles
Information
Robotica , Volume 13 , Issue 4 , July 1995 , pp. 411 - 421
Copyright
Copyright © Cambridge University Press 1995

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