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Distributed algorithms for a robot team via Multithreading

Consider a simulation of multiple robots in gazebo, using a single ROS Master. To get this robot team to accomplish specific tasks in a decentralized way, I need to get them to implement specific distributed algorithms. For example, leader election can be used by the team to choose a leader autonomously.

I am considering developing a ROS Package that implements some of these algorithms using multithreading. Each robot in the robot has a thread, so that the system as a whole is multithreaded. This is in lieu of the multiple processes that are used in the distributed computing literature. I intend this to be a simpler alternative to ROS Multimaster for simulating a robot team.

I wonder if any one has any general comments on this? How useful would such an exercise be?

Asked by PKG on 2014-03-06 18:05:16 UTC

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I just crossposted this on the ros-users mailing list. There was a small mixup when I sent them an email yesterday; hence I thought of putting this here first.

Asked by PKG on 2014-03-07 09:36:10 UTC

Please don't cross-post.

Asked by ahendrix on 2014-03-07 10:26:47 UTC

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