Robot control in a message passing environment: theoretical questions and preliminary experiments
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.
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.
Louis L. Whitcomb and Daniel E. Koditschek. "Robot control in a message passing environment: theoretical questions and preliminary experiments" Departmental Papers (ESE) (1990).
Available at: http://works.bepress.com/daniel_koditschek/88