Geodesic
Dispatching of robotic control programs
Journal of computational and engineering mathematics, Tome 3 (2016) no. 2, pp. 14-24.

Voir la notice de l'article provenant de la source Math-Net.Ru

The problem of dispatching discipline choice when managing programs are linked into unified multi-loop computer control system is considered. It is shown that a problem of control of such a system may be reduced to the problem of evaluation of states both robot and controller. In multi-circuit computer control systems time intervals of residence of robot in any state depends on both time complexity of control algorithm and dispatching discipline. Two simplest disciplines of most common use are investigated: the cyclic dispatching and foreground (quasi-stochastic) one. With use the formalism of semi-Markov process models of functioning of control programs under investigated dispatching disciplines are worked out. Mathematical relationships for time of return to any state of semi-Markov process and time between switches are obtained. The parameters obtained are essential for choice the efficient regimes of data processing when control of robots.
Keywords: robot, multi-circuit control, data processing, dispatching discipline, cyclic, quasi-stochastic, semi-Markov process, time of return, time between switches. 
@article{JCEM_2016_3_2_a1,
     author = {E. V. Larkin and V. V. Kotov and A. N. Ivutin and A. N. Privalov},
     title = {Dispatching of robotic control programs},
     journal = {Journal of computational and engineering mathematics},
     pages = {14--24},
     publisher = {mathdoc},
     volume = {3},
     number = {2},
     year = {2016},
     language = {en},
     url = {http://geodesic.mathdoc.fr/item/JCEM_2016_3_2_a1/}
}
TY  - JOUR
AU  - E. V. Larkin
AU  - V. V. Kotov
AU  - A. N. Ivutin
AU  - A. N. Privalov
TI  - Dispatching of robotic control programs
JO  - Journal of computational and engineering mathematics
PY  - 2016
SP  - 14
EP  - 24
VL  - 3
IS  - 2
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/JCEM_2016_3_2_a1/
LA  - en
ID  - JCEM_2016_3_2_a1
ER  - 
%0 Journal Article
%A E. V. Larkin
%A V. V. Kotov
%A A. N. Ivutin
%A A. N. Privalov
%T Dispatching of robotic control programs
%J Journal of computational and engineering mathematics
%D 2016
%P 14-24
%V 3
%N 2
%I mathdoc
%U http://geodesic.mathdoc.fr/item/JCEM_2016_3_2_a1/
%G en
%F JCEM_2016_3_2_a1
E. V. Larkin; V. V. Kotov; A. N. Ivutin; A. N. Privalov. Dispatching of robotic control programs. Journal of computational and engineering mathematics, Tome 3 (2016) no. 2, pp. 14-24. http://geodesic.mathdoc.fr/item/JCEM_2016_3_2_a1/

[1] S. G. Tzafestas, Introduction to mobile robot control, Elsevier, 2013

[2] S. Kahar, R. Sulaiman, A. Prabuwono, N. Ahmad, “Review of Wireless Technology Usage for Mobile Robot Controller”, International Conference on System Engineering and Modeling (ICSEM 2012), IPCSIT, 43, 2012, 7–12 http://www.ipcsit.com/vol34/002-ICSEM2012-M0004.pdf

[3] Z. Wang, M. Liang, P. G. Maropoulos, “High accuracy mobile robot positioning using external large volume metrology instruments”, International Journal of Computer Integrated Manufacturing, 24:5 (2011), 484–492 | DOI

[4] G. Olsson, D. Piani, Computer Systems for Automation and Control, Nevskij dialekt, Sant Petersburg, 2001, 557 pp.

[5] E. Hyytiä, A. Penttinen, S. Aalto, “Size-and state-aware dispatching problem with queue-specific job sizes”, European Journal of Operational Research, 217:2 (2011), 357–370 | DOI | MR

[6] V. Vishnevsky, A. Dudin, V. Klimenok, O. Semenova, S. Shpilev, “Approximate Method to Study M/G/1-Type Polling System with Adaptive Polling Mechanism”, Quality Technology Quantitative Management, 9:2 (2011), 211–228 | DOI

[7] A. Howard, Dynamic Probabilistic Systems, v. I, Markov Models, Courier Corporation, 2012, 608 pp.

[8] A. Howard, Dynamic Probabilistic Systems, v. II, Semi-Markov and Decision Processes, Courier Corporation, 2013, 576 pp.

[9] M. Meerschaert, P. Straka, et al., “Semi-Markov approach to continuous time random walk limit processes”, The Annals of Probability, 42:4 (2014), 1699–1723 | DOI | MR | Zbl

[10] M. Iverson, F. Özgüner, G. Follen, “Run-time statistical estimation of task execution times for heterogeneous distributed computing”, High Performance Distributed Computing, Proceedings 5th IEEE International Symposium, IEEE, 1996, 263–270 | DOI

[11] A. Ivutin, E. Larkin, “Estimation of latency in embedded real-time systems”, 2014 3rd Mediterranean Conference on Embedded Computing (MECO) (Institute of Electrical Electronics Engineers (IEEE), 2014), 236–239 | DOI

[12] A. Ivutin, E. Larkin, Y. Lutskov, “Evaluation of program controlled objects states”, Embedded Computing (MECO), 2015 4th Mediterranean Conference on IEEE, IEEE, 2015, 250–253

[13] A. Ivutin, E. Larkin, V. Kotov, “Established Routine of Swarm Monitoring Systems Functioning”, Advances in Swarm and Computational Intelligence, Springer Science + Business Media, 2015, 415–422 | DOI

[14] G. Fishman, Monte Carlo: concepts, algorithms, and applications, Springer Series in Operations Research and Financial Engineering, Springer Science Business Media, New York, 2003, 698 pp. | MR