Parallel processing approaches in robotics

Abstract

This paper presents the different possibilities for parallel processing in robot control architectures. Initially, the authors briefly review the historic development of control architectures. Then, a list of requirements for control architectures is set up from a parallel processing point of view. As their main topic, they identify the levels of parallel processing in robot control architectures. With each level of parallelism, examples for a typical robot control architecture are presented. Finally, a list of keywords is provided for each previous work the authors refer to.