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An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots.

Agrawal, Shweta; Jain, Sanjiv Kumar; Ibeke, Ebuka

Authors

Shweta Agrawal

Sanjiv Kumar Jain

Ebuka Ibeke



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.

Citation

AGRAWAL, S., JAIN, S.K. and IBEKE, E. [2021]. An orchestrator for networked control systems and its application to collision avoidance in multiple mobile robots. International journal of engineering systems modelling and simulation [online], Forthcoming. Available from: https://doi.org/10.1504/IJESMS.2021.10036742

Journal Article Type Article
Acceptance Date Sep 21, 2020
Online Publication Date Apr 1, 2021
Deposit Date Mar 25, 2021
Publicly Available Date Apr 2, 2022
Journal International journal of engineering systems modelling and simulation
Print ISSN 1755-9758
Electronic ISSN 1755-9766
Publisher Inderscience
Peer Reviewed Peer Reviewed
DOI https://doi.org/10.1504/IJESMS.2021.10036742
Keywords Orchestrator; Coordination; NCS; Collision detection; Multiple robots
Public URL https://rgu-repository.worktribe.com/output/1280148

Files

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