@article { , title = {An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots.}, abstract = {Networked Control System (NCS) consists of controlled distributed nodes while an Orchestrator functions as a central coordinator for controlling the distributed tasks. The NCSs have challenges of coordination and right execution sequencing of operations. This paper proposes a framework named Controlled Orchestrator (COrch) for coordinating and sequencing the tasks of NCSs. An experiment was performed with three robotic vehicles that are considered as individual control system. Furthermore, the proposed orchestrator COrch decided the sequencing of operations of the robots while performing obstacle avoidance task for spatially distributed robots in parallel. COrch is used to control this task by utilizing the concept of Remote Method Invocation (RMI) and multithreading. RMI is used to prepare the software for controlling the robots at remote end while multithreading is used to perform parallel and synchronize execution of multiple robots. The remote end software generates signals for sequential, parallel and hybrid mode execution.}, doi = {10.1504/IJESMS.2021.115531}, eissn = {1755-9766}, issn = {1755-9758}, issue = {2/3}, journal = {International journal of engineering systems modelling and simulation}, note = {INFO COMPLETE (Now published, checked and updated 24/6/2021 LM; Info of acceptance via contact 22/3/2021 LM) PERMISSION GRANTED (version = AAM; embargo = 12 months (after publication); licence = BY-NC; SHERPA = https://v2.sherpa.ac.uk/id/publication/4365 ; POLICY = https://www.inderscience.com/mobile/inauthors/index.php?pid=74 23/3/2021 LM) DOCUMENT READY (AAM rec'd from contact 25/3/2021 LM) ADDITIONAL INFO - Contact: Ebuka Ibeke}, pages = {103-110}, publicationstatus = {Published}, publisher = {Inderscience}, url = {https://rgu-repository.worktribe.com/output/1280148}, volume = {12}, keyword = {Orchestrator, Coordination, Networked control systems, NCS, Collision detection, Multiple robots}, year = {2021}, author = {Agrawal, Shweta and Jain, Sanjiv Kumar and Ibeke, Ebuka} }