Implementation Of Distributed Production System For Heterogeneous Multiprocessor Robotic Systems

We have developed an RTDPS (Robotic Technology Distributed Production System) for use as a framework for realizing optimized performance of an integrated robot. The RTDPS is a set of software built on OpenRTM-aist (an implementation of OMGRT-middleware specification), which consists of a script compiler, node components, and deployment utility. By distributing the application logics among the processing elements, the RTDPS can prevent the centralized control of integrated systems, which causes system bottlenecks. By performing experiments involving two typical applications, we show that the network traffic can be reduced by 73% while balancing the processing load among the processing elements.