Metaheuristic Based Resource Scheduling Technique for Distributed Robotic Control Systems

The design of controllers for robots is a complex system that is to be dealt with several tasks in real time for enabling the robots to function independently.The distributed robotic control system can be used in real time for resolving various challenges such as localization,motion controlling,mapping,route planning,etc.The distributed robotic control system can manage different kinds of heterogenous devices.Designing a distributed robotic control system is a challenging process as it needs to operate effectually under different hardware configurations and varying computational requirements.For instance,scheduling of resources(such as communication channel,computation unit,robot chassis,or sensor input)to the various system components turns out to be an essential requirement for completing the tasks on time.Therefore,resource scheduling is necessary for ensuring effective execution.In this regard,this paper introduces a novel chaotic shell game optimization algorithm(CSGOA)for resource scheduling,known as the CSGOA-RS technique for the distributed robotic control system environment.The CSGOA technique is based on the integration of the chaotic maps concept to the SGO algorithm for enhancing the overall performance.The CSGOA-RS technique is designed for allocating the resources in such a way that the transfer time is minimized and the resource utilization is increased.The CSGOA-RS technique is applicable even for the unpredicted environment where the resources are to be allotted dynamically based on the early estimations.For validating the enhanced performance of the CSGOA-RS technique,a series of simulations have been carried out and the obtained results have been examined with respect to a selected set of measures.The resultant outcomes highlighted the promising performance of the CSGOA-RS technique over the other resource scheduling techniques.

Characteristic model-based consensus of networked heterogeneous robotic manipulators with dynamic uncertainties

In this paper, we address the characteristic model-based discrete-time consensus problem of networked robotic manipulators with dynamic uncertainties. The research objective is to achieve joint-position consensus of multiple robotic agents interconnected on directed graphs containing a spanning tree. A novel characteristic model-based distributed adaptive control scenario is proposed with a state-relied projection estimation law and a characteristic model-based distributed controller. The performance analysis is also unfolded where the uniform ultimate boundedness(UUB) of consensus errors is derived by resorting to the discrete-time-domain stability analysis tool and the graph theory. Finally, numerical simulations illustrate the effectiveness of the proposed theoretical strategy.