Shared-Memory Robot Control for Real-Time Multi-Agent Synchronization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In the development of standard type robot software, achieving real-time synchronization and maintaining hardware stability while allowing multiple independent processes to coexist is challenging, leading to decreased performance and longer development times due to overlapping functions and compatibility issues.
Innovation Solution
A system controlling method and apparatus that utilize multiple agents with independent processes and a shared memory to store references, allowing for stable control of hardware devices through a device control module that transfers control signals based on the references stored in the shared memory, enabling real-time operation and minimizing process delays.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multiple independent processes are allowed to coexist for hardware control, then system functionality and adaptability are improved, but process synchronization and hardware stability deteriorate
Solution Approach 1:
The system divides hardware control into multiple independent agent processes, each responsible for specific control tasks. These segmented processes communicate through a shared memory interface, allowing functional diversity while maintaining individual process independence and stability.
Solution Approach 2:
A shared memory interface acts as an intermediary between multiple independent agent processes and the hardware control layer. This mediator enables process-to-process communication and coordination without direct process interference, ensuring synchronization while maintaining process independence.
2Productivity
If multiple developers work simultaneously on different functions, then development productivity is improved, but process overlap and real-time synchronization difficulties increase
Solution Approach 1:
The control system is segmented into multiple independent agent processes that can be developed, tested, and maintained separately by different developers. Each agent operates independently with well-defined interfaces, enabling parallel development without process conflicts.
Solution Approach 2:
The shared memory interface provides universal communication capabilities across all agent processes, serving as a common platform for data exchange and coordination. This universal interface simplifies multi-developer collaboration by providing standardized interaction protocols.
3Adaptability or versatility
If additional function changes are added to maintain compatibility with standard software, then adaptability is improved, but driving performance deteriorates
Solution Approach 1:
The system segments adaptability functions from core control functions by implementing them as separate agent processes. Compatibility-related function changes can be added to specific agents without affecting the real-time performance of the core control loop, as the segmented architecture isolates performance-critical operations.
Data Source
AI summary
A system controlling method according to an embodiment of the present invention comprises operating a plurality of agents having mutually independent processes using a shared memory; obtaining hardware control data for controlling one or more devices from each of references generated from the plurality of agents and stored in the shared memory; and transferring control signals according to the references to the one or more devices selected from the hardware control data.