Hostname: page-component-586b7cd67f-l7hp2 Total loading time: 0 Render date: 2024-11-24T21:18:44.025Z Has data issue: false hasContentIssue false
  • English
  • Français

A comparative model-based analysis and design for multi-robot systems

Published online by Cambridge University Press:  09 March 2009

Ki Dong Lee ,
Bum Hee Lee  and
Myoung Sam Ko
Ki Dong Lee
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, San 56–1, Shinrim-dong Kwanakku, Seoul 151–742 (Korea)
Bum Hee Lee
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, San 56–1, Shinrim-dong Kwanakku, Seoul 151–742 (Korea)
Myoung Sam Ko
Affiliation:
Department of Control and Instrumentation Engineering, Seoul National University, San 56–1, Shinrim-dong Kwanakku, Seoul 151–742 (Korea)
Get access Rights & Permissions [Opens in a new window]

Summary

For a robotic workcell with multiple robots, several interconnection methods are presented in terms of a processor-based architecture. The concept of the multiple processor system (MPS) or multiple computer system (MCS) is used to formulate and analyze the multi-robot interconnection system (MRIS). The MRIS is modelled as a queueing network, and mathematical analysis is done on the basis of modelling. Performance evaluation is achieved for the MRIS through the mean value analysis with the response time and the probability of service failure under different workloads. The results together with some comments suggest a useful guideline for a selecting an appropriate interconnection method for the MRIS subject to the system environment and application.

Keywords

Mathematical analysisPerformanceIndustrial robotsQueueing network
Type
Articles
Information
Robotica , Volume 13 , Issue 1 , January 1995 , pp. 65 - 76
Copyright
Copyright © Cambridge University Press 1995

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1.Liebowitz, B.H., “Multiple processor minicomputer systems Part 1: Design concepts” Computer Design 87–95 (Oct., 1978).Google Scholar
2.Mellado, E.L. and Alami, R., “A failure recovery scheme for assembly workcells” IEEE Int'l Conf. on Robotics & Automation(1990) pp. 702–707.Google Scholar
3.Smith, R.E. and Gini, M., “Robot tracking and control issues in an intelligent error recovery system” IEEE Int'l Conf. on Robotics & Automation(1986) pp. 1070–1075.Google Scholar
4.Mehrotra, Rajiv and Varanasi, Murali, Multirobot systems: IEEE Comput. Society Robot Technology Series (IEEE Computer Society, 5–8, 1990).Google Scholar
5.Bhuyan, L.N., Qing, Yang and Agrawal, D.P., “Performance of multiprocessor interconnection networks” IEEE Computer. 22, No. 2, 25–37 (02, 1989).CrossRefGoogle Scholar
6.Heidelberger, P. and Lavenberg, S.S., “Computer performance evaluation methodology” IEEE Trans. on Comput. 33, No. 12, 1195–1219 (12, 1984).CrossRefGoogle Scholar
7.Tantawi, A.N., “Performance of a hierarchical interconnected multiprocessor” 10th Int'l Conf. on Distributed Computing Systems(1990) pp. 352–359.Google Scholar
8.Athas, W.C. and Seitz, C.L., “Multicomputer: Messagepassing concurrent computers” IEEE Computer 21, No. 8, 9–24 (08, 1988).CrossRefGoogle Scholar
9.Agrawal, D.P., Janakiram, V.K. and Pathak, G.C., “Evaluating the performance of multicomputer configurations” IEEE Computer 19, No. 5, 23–37 (05, 1986).Google Scholar
10.Bodnar, B.L. and Liu, A.C., “Modeling and performance analysis of single–bus tightly–coupled multiprocessors” IEEE Trans. Comput. 38, No. 3, 464–470 (03, 1989).CrossRefGoogle Scholar
11.Siomalas, K.O. and Bowen, B.A., “Performance of cross–bar multiprocessor systems” IEEE Trans. Comput. 32, No. 7 689–696 (07, 1983).CrossRefGoogle Scholar
12.Yang, Q. and Zaky, S.G., “Communication performance in multiple–bus systems” IEEE Trans, on Computers 37, No. 7, 848–853 (07, 1988).CrossRefGoogle Scholar
13.Marsan, M.A., Balbo, G., Conte, G. and Gregoretti, F., “Modelling bus contention and memory interference in a multiprocessor system” IEEE Trans. on Comput. 32, No. 1, 60–72 (01, 1983).CrossRefGoogle Scholar
14.Ho, Y.C., “Scanning the issue” Proceedings the IEEE, 3–6 (01, 1989).CrossRefGoogle Scholar
15.Mehra, S.K., Wong, J.W. and Majithia, J.C., “A comparative study of some two–processor organizations” IEEE Trans. on Comput. 29, No. 1, 44–49 (01, 1990).Google Scholar
16.Dupourgue, V., Guiot, H. and Ishacian, O., “Towards multi–processor and multi–robot controllers” IEEE Int'l Conf. on Robotics & Automation(1986) pp. 864–870.Google Scholar
17.Lee, K.D., Lee, B.H. and Ko, M.S., “An approach to interconnection, modelling, and simulation for a multirobot workcell” International Symposium on Industrial Electronics Xian, China (05, 1992) pp. 342–346.Google Scholar
18.Han, J.Y. and Wang, C.Y., “Modeling and performance evaluation of multiprocessor systems for real–time nonlinear robot control” IEEE Conf. on Robotics & Automation(1989) pp. 1016–1021.Google Scholar
19.Klein, C.A. and Wahawisan, W., “Use of a multiprocessor for control of a robotic system” Int'l J. Robotics Research 1, No. 2, 45–59 (1982).CrossRefGoogle Scholar
20.Ozguner, F. and Kao, M.L., “A reconfigurable multiprocessor architecture for reliable control of robotic systems” IEEE Int'l Conf. on Robotics & Automation(1985) pp. 802–806.Google Scholar
21.Shin, K.G. and Epstein, M.E., “Communication primitives for a distributed multi–robot system” IEEE Int'l Conf. on Robotics & Automation(1985) pp. 910–917.Google Scholar
22.Shin, K.G. and Epstein, M.E., “Intertask communications in an integrated multirobot system” IEEE J. Robotics & Automation 3, No. 2, 90–100 (04, 1987).CrossRefGoogle Scholar
23.Gauthier, D., Freedman, P., Carayannis, G. and Malowany, A.S., “Interprocessor communication for distributed robotics” IEEE J. Robotics & Automation 3, No. 6, 99–110 (12 1987).CrossRefGoogle Scholar
24.Hussaini, S.S. and Jakopac, D.E., “Multiple manipulators and robotic workcell coordination” IEEE Int'l Conf. on Robotics & Automation(1983) pp. 1236–1266.Google Scholar
25.Luh, J.Y.S. and Zheng, Y.F., “An interactively hierarchical control scheme for two coordinating industrial robots” Proceedings of 25th CDC (12 1986) pp. 1265–1266.Google Scholar
26.Insup, Lee, King, R. and Yun, X., “A real–time kernel for distributed multi–robot systems” American Control Conference(1988) pp. 1083–1088.Google Scholar
27.Zheng, Y.F., Luh, J.Y.F. and Jia, P.F., “A real–time distributed computer system for coordinated–motion control of two industrial robots” IEEE Int'l Conf. on Robotics ' Automation(1987) pp. 1236–1241.Google Scholar
28.Reed, D.A. and Grunwald, D.C., “The performance of multicomputer interconnection networks” IEEE Computer 20, No. 6, 63–73 (06, 1987).CrossRefGoogle Scholar
29.Chi–Keng, Tsai, “Multiple robot coordination and programming” IEEE Int'l Conf. on Robotics & Automation(1991) pp. 978–985.Google Scholar
30.Kleinrock, L., Queueing Systems (John Wiley & Sons, New York, 1975) pp. 141–143.Google Scholar
31.Cheeha, Kim and Agrawala, A.K., “Analysis of the Fork–Join queue” IEEE Trans. on Computers 38, No. 2, 250–255 (02, 1989).Google Scholar