Skip to main content
SpringerLink
Log in

Implementation of Complex Robot Subsystems on Distributed Computing Resources

  • Conference paper
Machine Intelligence and Knowledge Engineering for Robotic Applications

Part of the book series: NATO ASI Series ((NATO ASI F,volume 33))

Abstract

An approach to the coordination of a complex robot’s subsystems has been developed and implemented. In this approach, the computational load is distributed functionally over several microprocessor systems in both tightly and loosely coupled configurations. Tightly coupled functions communicate through shared memory on the same high speed parallel bus. Loosely coupled functions communicate through a local area network. However, whether tightly or loosely coupled, communications between functional modules appear as if a single blackboard memory is shared. This approach to robot integration has been used to explore various concepts for sensor data fusion. An autonomous mobile robot has provided the experimental environment in which experience with this approach has been gained. The concepts fundamental to this approach have also been extended to coordinate multiple interacting robots.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. A. M. Thompson, “The Navigation System of the JPL Robot”, Proc. of the 5th International Joint Conf. on Artificial Intelligence, Cambridge, MA, 22–25 August 1977, pp749757.

    Google Scholar 

  2. G. Giralt, R. Sobek & R. Chatila, “A Multilevel Planning and Navigation System for a Mobile Robot: A First Approach to HILARE”, Proc. of the 6th International Joint Conf. on Artificial Intelligence, Tokyo, Japan, 20–23 August 1979, pp 335–37.

    Google Scholar 

  3. L. D. Erman & V. R. Lesser, “A Multi-Level Organization for Problem Solving Using Many, Diverse Cooperating Sources of Knowledge”, Proc. of the 4th International Joint Conf. on Artificial Intelligence, Tbilisi, Georgia, USSR, 3–8 Sept 1975, p483.

    Google Scholar 

  4. V. R. Lesser & D. D. Corkhill, “Functionally Accurate, Cooperative Distributed Systems”, IEEE Trans. on Systems, Man and Cybernetics, 11 (1) 1981, pp 81–96.

    Article  Google Scholar 

  5. C. Hewitt, “Viewing Control Structures as Patterns of Passing Messages”, Artificial Intelligence, 8, 1977, pp 323–364.

    Article  Google Scholar 

  6. R. G. Smith & R. Davis, “Frameworks for Cooperation in Distributed Problem-Solving”, IEEE Trans. on Systems, Man and Cybernetics, 11 (1) 1981, pp 61–70.

    Article  Google Scholar 

  7. C. Hewitt & H. Baker, “Laws for Communicating Parallel Processes”, Information Processing 77, B. Gilchrist, ed., North-Holland Publishing Co., Amsterdam, The Netherlands, 1977, p987.

    Google Scholar 

  8. M. Weinstein, “Structured Robotics”, Proc. of the 4th International Joint Conf. on Artificial Intelligence, Tbilisi, Georgia, USSR, 3–8 Sept 1975, p609.

    Google Scholar 

  9. R. Wesson, et al., “Network Structures for Distributed Situation Assessment”, IEEE Trans. on Systems, Man and Cybernetics, 11 (1) 1981, pp 5–23.

    Article  MathSciNet  Google Scholar 

  10. C. L. Forgy, OPS5 Programmers Reference Manual, Carnegie Mellon University, Pittsburg, PA, 1981.

    Google Scholar 

  11. S. Y. Harmon & M. R. Solorzano, “Information Processing Architecture for an Autonomous Robot System”, Proc. of the Oakland Conf. on Artificial Intelligence, Rochester, MI 26–27 April 1983.

    Google Scholar 

  12. S. Y. Harmon, “Coordination between Control and Knowledge Based Systems for Autonomous Vehicle Guidance”, Proc. of IEEE Trends & Applications 1983, Gaithersburg, MD, 25–26 May 1983, pp 8–11.

    Google Scholar 

  13. S. Harmon, “USMC Ground Surveillance Robot: A Testbed for Autonomous Vehicle Research”, Proc. of the 4th UAH/UAB Robotics Conf., Huntsville, AL, Apr. 1984.

    Google Scholar 

  14. J. W. Lowrie, M. Thomas, K. Gremban, M. Turk, “The Autonomous Land Vehicle (ALV) Preliminary Road Following Demonstration”, Proc. of the SPIE Conf. on Computer Vision and Intelligent Robots, Cambridge, MA, 1985.

    Google Scholar 

  15. P. Allen, R. Bajcsy, “Object Recognition Using Vision and Touch” Proc. of the 9th Int. Joint Conference on Artificial Intelligence, Los Angeles, CA, Aug. 1985, p1131–1135.

    Google Scholar 

  16. E. Kent, T. Wheatley, M. Nashman, “Real-time Cooperative Interaction between Structured-Light and Reflectance Ranging for Robot Guidance”, Robotica, 3, 1985, p7–11.

    Article  Google Scholar 

  17. A. Flynn, Redundant Sensors for Mobile Robot Navigation, Dept. of Electrical Engineering and Computer Science, MIT, Cambridge, MA, July 1985.

    Google Scholar 

  18. R. Brooks, “A Robust Layered Control System for a Mobile Robot”, A.I. Memo 864, MIT, Cambridge, MA, Sept. 1985.

    Google Scholar 

  19. T. Iberall, D. Lyons, Towards Perceptual Robotics, COINS T.R. 84–17, Laboratory for Perceptual Robotics, Univ. of Mass, Amherst, MA, Aug. 1984.

    Google Scholar 

  20. M. Gini, et al., Symbolic Reasoning as a Basis for Automatic Error Recovery in Robots, Report 85–11, Univ. of Minnesota, Minneapolis, MN, 1985.

    Google Scholar 

  21. S. Harmon, “Autonomous Robot Submersibles: The Future of Unmanned Submersibles”, Proc. of the 2nd ASME Computer Engineering Conf., San Diego, CA, Aug. 1982, p33–36.

    Google Scholar 

  22. R. Brooks, “Visual Map Making for a Mobile Robot”, Proc. of the IEEE Conf. on Robotics and Automation, St. Louis, MO, Mar. 1985, p824–829.

    Google Scholar 

  23. J. Crowley, “Navigation of an Intelligent Mobile Robot”, IEEE J. on Robotics and Automation, RA-1(1), Mar. 1985, p31–41.

    Google Scholar 

  24. R. Chatila, J-P. Laumond, “Position Referencing and Consistent World Modelling for Mobile Robots”, Proc. of the IEEE Conf. on Robotics and Automation, St. Louis, MO, Mar. 1985, p138–145.

    Google Scholar 

  25. S. Harmon, D. Gage, W. Aviles, G. Bianchini, “Coordination of Intelligent Subsystems in Complex Robots”, Proc. of the 1st IEEE Conf. on Artificial Intelligence Applications, Denver, CO, Dec. 1984, p64–69.

    Google Scholar 

  26. S. Harmon & D. Gage, “Protocols for Robot Communications”, Proc. of the IEEE Conf. on Cybernetics and Society, October 1981.

    Google Scholar 

  27. S. Harmon, G. Bianchini & B. Pinz, “Sensor Data Fusion on an Autonomous Mobile Robot through a Distributed Blackboard” Proc. of the IEEE Conf. on Robotics and Automation, San Francisco, April 1986, p1449–1454.

    Google Scholar 

  28. S. Harmon, W. Aviles & D. Gage, “A Technique for Coordinating Autonomous Robots”, Proc. of the IEEE Conf. on Robotics and Automation, San Francisco, April 1986, p2029–2034.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Robot Intelligence International, 4660 Long Branch Avenue, San Diego, CA, 92107, USA

    S. Y. Harmon

Authors
  1. S. Y. Harmon
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. Systems Design Engineering, University of Waterloo, N2L 3G1, Waterloo, Ontario, Canada

    Andrew K. C. Wong

  2. Electronic Engineering, University of Hull, Hull, HU6 7RX, UK

    Alan Pugh

Rights and permissions

Reprints and permissions

Copyright information

© 1987 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Harmon, S.Y. (1987). Implementation of Complex Robot Subsystems on Distributed Computing Resources. In: Wong, A.K.C., Pugh, A. (eds) Machine Intelligence and Knowledge Engineering for Robotic Applications. NATO ASI Series, vol 33. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-87387-4_16

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-87387-4_16

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-87389-8

  • Online ISBN: 978-3-642-87387-4

  • eBook Packages: Springer Book Archive

Publish with us

Policies and ethics

Search

Navigation