Efficient mapping algorithms for scheduling robot inverse dynamics computation on a multiprocessor system

Journal Article · Tue May 01 00:00:00 EDT 1990 · IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (USA)

DOI:https://doi.org/10.1109/21.57271· OSTI ID:6502691

Lee, C S.G. ^[1]; Chen, C L ^[2]

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1. School of Electrical Engineering, Purdue Univ., West Lafayette, IN (US)
2. Dept. of Computer Science and Engineering, Wright State Univ., Dayton, OH (US)

Two efficient mapping algorithms are presented for scheduling the execution of the robot inverse dynamics computation on a p-processor multiprocessor system. An objective function is defined in terms of the sum of the processor finishing time and the interprocessor communication time. The minimax optimization is performed on the objective function to obtain the best mapping. This mapping problem can be formulated as a combination of the graph partitioning and scheduling problems; both have been known to be NP-complete. Thus, to speed up the search for a solution, two heuristic algorithms were proposed to obtain fast but suboptimal mapping solutions.

• OSTI ID: 6502691
• Journal Information: IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (USA), Journal Name: IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (USA) Vol. 20:3; ISSN 0018-9472; ISSN ISYMA
• Country of Publication: United States
• Language: English

Related Subjects

99 GENERAL AND MISCELLANEOUS
990200* -- Mathematics & Computers
ALGORITHMS
ANNEALING
ARRAY PROCESSORS
COMPARATIVE EVALUATIONS
COMPUTERIZED SIMULATION
COMPUTERS
DATA
EXPERIMENTAL DATA
GRAPHS
HEAT TREATMENTS
HYPERCUBE COMPUTERS
INFORMATION
MATHEMATICAL LOGIC
NUMERICAL DATA
OPTIMIZATION
ROBOTS
SIMULATION