Lab for Process Control
and Real Time Systems, TU Muenchen
Information flow
The exploration system consists of several processes communicating with
each other via the
RPC-mechanism. This allows a free distribution of the processing power
among the available computers.
The whole system can be subdivided into three layers with different
tasks:
-
processing layer
- data acquisition and interpretation, hardware control
-
local coordination layer - planning and control of the system based
on cartesian coordinates
-
global planning
- abstract topological planning, interaction with the user
Darius Burschka