Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots

We report a design for an orchestrator controlled robotic network that organises and manages a set of activities through a task allocation model for the robotic nodes. The model also helps to study the robotic-orchestration with the help of centralised and decentralised approaches. Additionally, our...

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Autores principales:	Rameez Raja Chowdhary, Manju K. Chattopadhyay, Raj Kamal
Formato:	article
Lenguaje:	EN
Publicado:	Elsevier 2021
Materias:	Robotics Orchestration Networks Task distribution Collision avoidance Electronic computers. Computer science QA75.5-76.95
Acceso en línea:	https://doaj.org/article/f1bd8a17e81e4cfe99671b6f53648d2a
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spelling	oai:doaj.org-article:f1bd8a17e81e4cfe99671b6f53648d2a2021-11-22T04:19:33ZComparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots1319-157810.1016/j.jksuci.2018.09.001https://doaj.org/article/f1bd8a17e81e4cfe99671b6f53648d2a2021-12-01T00:00:00Zhttp://www.sciencedirect.com/science/article/pii/S1319157818301940https://doaj.org/toc/1319-1578We report a design for an orchestrator controlled robotic network that organises and manages a set of activities through a task allocation model for the robotic nodes. The model also helps to study the robotic-orchestration with the help of centralised and decentralised approaches. Additionally, our model incorporates an innovative collision avoidance algorithm that avoids collision between parallel running robots without any communication between them. The results of the orchestrated, centralised and decentralised approaches are compared using the Paired signed and Wilcoxon signed rank tests. Simulated results, when compared with the experimental data, show that the orchestrated approach is better than the decentralised approach in terms of communication bandwidth and performance’s consistency. In addition, the orchestrated approach is better than the centralised approach, in terms of both communication overloads and task execution time.Rameez Raja ChowdharyManju K. ChattopadhyayRaj KamalElsevierarticleRoboticsOrchestrationNetworksTask distributionCollision avoidanceElectronic computers. Computer scienceQA75.5-76.95ENJournal of King Saud University: Computer and Information Sciences, Vol 33, Iss 10, Pp 1231-1241 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Robotics Orchestration Networks Task distribution Collision avoidance Electronic computers. Computer science QA75.5-76.95
spellingShingle	Robotics Orchestration Networks Task distribution Collision avoidance Electronic computers. Computer science QA75.5-76.95 Rameez Raja Chowdhary Manju K. Chattopadhyay Raj Kamal Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
description	We report a design for an orchestrator controlled robotic network that organises and manages a set of activities through a task allocation model for the robotic nodes. The model also helps to study the robotic-orchestration with the help of centralised and decentralised approaches. Additionally, our model incorporates an innovative collision avoidance algorithm that avoids collision between parallel running robots without any communication between them. The results of the orchestrated, centralised and decentralised approaches are compared using the Paired signed and Wilcoxon signed rank tests. Simulated results, when compared with the experimental data, show that the orchestrated approach is better than the decentralised approach in terms of communication bandwidth and performance’s consistency. In addition, the orchestrated approach is better than the centralised approach, in terms of both communication overloads and task execution time.
format	article
author	Rameez Raja Chowdhary Manju K. Chattopadhyay Raj Kamal
author_facet	Rameez Raja Chowdhary Manju K. Chattopadhyay Raj Kamal
author_sort	Rameez Raja Chowdhary
title	Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
title_short	Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
title_full	Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
title_fullStr	Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
title_full_unstemmed	Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
title_sort	comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots
publisher	Elsevier
publishDate	2021
url	https://doaj.org/article/f1bd8a17e81e4cfe99671b6f53648d2a
work_keys_str_mv	AT rameezrajachowdhary comparativestudyoforchestratedcentralisedanddecentralisedapproachesfororchestratorbasedtaskallocationandcollisionavoidanceusingnetworkcontrolledrobots AT manjukchattopadhyay comparativestudyoforchestratedcentralisedanddecentralisedapproachesfororchestratorbasedtaskallocationandcollisionavoidanceusingnetworkcontrolledrobots AT rajkamal comparativestudyoforchestratedcentralisedanddecentralisedapproachesfororchestratorbasedtaskallocationandcollisionavoidanceusingnetworkcontrolledrobots
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Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots

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