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Improved Model of Greedy Tasks Assignment in Distributed Robotic Systems

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Interactive Collaborative Robotics (ICR 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 14214))

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Abstract

The problem of computations efficiency estimation is a topical one nowadays because of cost and various constraints, including energy consumption, resource spending, data transmission constraints, etc. Taking into account the tight connection between distributed robotic systems and IoT concepts, including fog and edge, the problem of computational resource spending is considered as one of the efficiency criteria. In the current paper the improved model for computational tasks distribution efficiency estimation is presented and discussed. As the failure rate of the node depends on the workload, we consider the strategy, when each node can choose its regime - to transmit or to process data. The decision depends on the estimation inequality, which includes such parameters as computational complexities of data processing, data transmission and time share of the data transmission in the overall time constraint for the tasks performing. The model developed allows to implement the greedy strategy of tasks distribution, in which every robotic device chooses the best individual state and differs from the previously presented model by more precise estimations of the data transmission. Also, some selected experimental results are presented, pros and cons of such greedy approach are discussed.

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Authors and Affiliations

  1. Institute of IT and Security Technologies, RSUH, 25-2, Kirovogradskaya Street, Moscow, 117534, Russia

    Anna Klimenko

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  1. Anna Klimenko
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Correspondence to Anna Klimenko .

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Editors and Affiliations

  1. St. Petersburg Federal Research Center of the Russian Academy of Sciences, St. Petersburg, Russia

    Andrey Ronzhin

  2. Institute of Control Systems of Ministry of Science and Education of the Republic of Azerbaijan, Baku, Azerbaijan

    Aminagha Sadigov

  3. V.A. Trapeznikov Institute of Control Sciences of the Russian Academy of Sciences, Moscow, Russia

    Roman Meshcheryakov

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Klimenko, A. (2023). Improved Model of Greedy Tasks Assignment in Distributed Robotic Systems. In: Ronzhin, A., Sadigov, A., Meshcheryakov, R. (eds) Interactive Collaborative Robotics. ICR 2023. Lecture Notes in Computer Science(), vol 14214. Springer, Cham. https://doi.org/10.1007/978-3-031-43111-1_28

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  • DOI: https://doi.org/10.1007/978-3-031-43111-1_28

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-43110-4

  • Online ISBN: 978-3-031-43111-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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