Over het archief
Het OWA, het open archief van het Waterbouwkundig Laboratorium heeft tot doel alle vrij toegankelijke onderzoeksresultaten van dit instituut in digitale vorm aan te bieden. Op die manier wil het de zichtbaarheid, verspreiding en gebruik van deze onderzoeksresultaten, alsook de wetenschappelijke communicatie maximaal bevorderen.
Dit archief wordt uitgebouwd en beheerd volgens de principes van de Open Access Movement, en het daaruit ontstane Open Archives Initiative.
Basisinformatie over ‘Open Access to scholarly information'.
Optimized distributed scheduling for a fleet of heterogeneous unmanned maritime systems
De Cubber, G.; Haelterman, R. (2019). Optimized distributed scheduling for a fleet of heterogeneous unmanned maritime systems, in: Harman, T.L. et al. 2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR). pp. 7. https://hdl.handle.net/10.1109/ISMCR47492.2019.8955727
In: Harman, T.L.; Taqvi, Z. (Ed.) (2019). 2019 IEEE International Symposium on Measurement and Control in Robotics (ISMCR). IEEE: USA. ISBN 978-1-7281-4900-4; e-ISBN 978-1-7281-4899-1. [diff. pag.] pp. https://hdl.handle.net/10.1109/ISMCR47492.2019, meer
|
| Beschikbaar in | Auteurs |
|
Documenttype: Congresbijdrage
|
| Trefwoord |
|
| Author keywords |
heterogeneous systems; multi-robot systems; cloud robotics; load balancing |
| Abstract |
Due to the increase in embedded computing power, modern robotic systems are capable of running a wide range of perception and control algorithms simultaneously. This raises the question where to optimally allocate each robotic cognition process. In this paper, we present a concept for a novel load distribution approach. The proposed methodology adopts a decentralised approach towards the allocation of perception and control processes to different agents (unmanned vessels, fog or cloud services) based on an estimation of the communication parameters (bandwidth, latency, cost), the agent capabilities in terms of processing hardware (not only focusing on the CPU, but also taking into consideration the GPU, disk & memory speed and size) and the requirements in terms of timely delivery of quality output data. The presented approach is extensively validated in a simulation environment and shows promising properties. |
IMIS is ontwikkeld en wordt gehost door het VLIZ.
