Robot control in a message passing environment: theoretical questions and preliminary experiments

Louis L. Whitcomb, Yale University
Daniel E. Koditschek, University of Pennsylvania

Article comments

Copyright 1990 IEEE. Reprinted from Proceedings of the IEEE Conference on Robotics and Automation, , Volume 2, 1990, pages 1198-1123.

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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

Abstract

The performance of real-time distributed control systems is shown to depend critically on both communication and computation costs. A taxonomy for distributed system performance measurement is introduced. A roughly accurate method of performance prediction for simple systems is presented. Experimental results demonstrate the effects of communication protocols on real-world system performance.