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 article

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 1 2003
EventBest Papers Presented at IAS-7 - Marina del Rey, CA, United States
Duration: Mar 1 2002Mar 1 2002



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

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