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Network-Centric Control Methods for a Group of Cyber-Physical Objects

Vladimir Muliukha
Almazov National Medical Research Centre, St.Petersburg, Russia

Alexey Lukashin
Peter the Great St. Petersburg Polytechnic University, St.Petersburg, Russia

Alexander Ilyashenko
Peter the Great St. Petersburg Polytechnic University, St.Petersburg, Russia

Vladimir Zaborovsky
Peter the Great St. Petersburg Polytechnic University, St.Petersburg, Russia

Ladda ner artikelhttp://dx.doi.org/10.3384/ecp17142966

Ingår i: Proceedings of The 9th EUROSIM Congress on Modelling and Simulation, EUROSIM 2016, The 57th SIMS Conference on Simulation and Modelling SIMS 2016

Linköping Electronic Conference Proceedings 142:142, s. 966-972

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Publicerad: 2018-12-19

ISBN: 978-91-7685-399-3

ISSN: 1650-3686 (tryckt), 1650-3740 (online)

Abstract

In the paper we propose to use network-centric approach for a control task. Robots are described as cyber-physical objects that consist of two parts: mechatronic and informational. All cyber-physical objects are connected with each other using special multiprotocol nodes - devices that can route data between different types of computer networks (Ethernet, WiFi, 3G, LTE). Such network is described by hypergraph model, where central node is a hybrid cloud computer. While all robots are connected together, logical and computational tasks for cyber-physical objects are processed by this high performance node like in the central control system. Without a connection with central node robot switches into a multiagent mode.

Nyckelord

cyber-physical object, network-centric control, cloud robotics

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