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?
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.
Please don't cross-post.