Resource scheduling and load balancing in distributed robotic control systems

Colin McMillen, Kristen N. Stubbs, Paul E. Rybski, Sascha A. Stoeter, Maria Gini, Nikolaos P. Papanikolopoulos

Research output: Contribution to journalConference articlepeer-review

8 Scopus citations


This paper describes the latest advances made to a software architecture designed to control multiple miniature robots. As the robots themselves have very limited computational capabilities, a distributed control system is needed to coordinate tasks among a large number of robots. Two of the major challenges facing such a system are the scheduling of access to system resources and the distribution of work across multiple workstations. This paper discusses solutions to these problems in the context of a distributed surveillance task.

Original languageEnglish (US)
Pages (from-to)251-259
Number of pages9
JournalRobotics and Autonomous Systems
Issue number3-4
StatePublished - Mar 2003
EventBest Papers Presented at IAS-7 - Marina del Rey, CA, United States
Duration: Mar 1 2002Mar 1 2002

Bibliographical note

Funding Information:
This material is based upon work supported in part by Microsoft Corporation, the National Science Foundation through grant #EIA-0224363, and the Defense Advanced Research Projects Agency, Microsystems Technology Office (Distributed Robotics), ARPA Order No. G155, Program Code No. 8H20, issued by DARPA/CMD under Contract #MDA972-98-C-0008.

Funding Information:
Nikolaos P. Papanikolopoulos (S’88-M’93-SM’01) was born in Piraeus, Greece, in 1964. He received the Diploma degree in electrical and computer engineering from the National Technical University of Athens, Athens, Greece, in 1987, the M.S.E.E. in electrical engineering from Carnegie Mellon University, Pittsburgh, PA, in 1988, and the Ph.D. in electrical and computer engineering from Carnegie Mellon University, Pittsburgh, PA, in 1992. Currently, he is a Professor in the Department of Computer Science and Engineering at the University of Minnesota and Director of the Center for Distributed Robotics. His research interests include robotics, sensors for transportation applications, control, and computer vision. He has authored or coauthored more than 160 journal and conference papers. He was a McKnight Land-Grant Professor at the University of Minnesota for the period 1995–1997 and has received the NSF Research Initiation and Early Career Development Awards. He has received grants from DARPA, Sandia National Laboratories, NSF, Microsoft, INEEL, USDOT, MN/DOT, Honeywell, and 3M.


  • Load balancing
  • Multiple robots
  • Resource allocation
  • Software architecture


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