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Metaheuristic Based Resource Scheduling Technique for Distributed Robotic Control Systems

P. Anandraj1,*, S. Ramabalan2
1 Department of Computer Science and Engineering, E.G.S. Pillay Engineering College, Nagapattinam, 611002, India
2 Department of Mechanical Engineering, E.G.S. Pillay Engineering College, Nagapattinam, 611002, India
* Corresponding Author: P. Anandraj. Email:

Computer Systems Science and Engineering 2022, 42(2), 795-811. https://doi.org/10.32604/csse.2022.022107

Received 27 July 2021; Accepted 27 September 2021; Issue published 04 January 2022

Abstract

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.

Keywords

Distributed robotic control system; resource scheduling; load balancing; resource utilization; metaheuristics; shell game optimization

Cite This Article

P. Anandraj and S. Ramabalan, "Metaheuristic based resource scheduling technique for distributed robotic control systems," Computer Systems Science and Engineering, vol. 42, no.2, pp. 795–811, 2022.



This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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