Event-oriented model of data flow control between embedded devices of a ground-based robotic vehicle

Event-oriented model of data flow control between embedded devices of a ground-based robotic vehicle

Ekaterina O. Cherskikh
Saint Petersburg Federal Research Center of the Russian Academy of Sciences (SPC RAS), 39, 14 line V.O., Saint Petersburg, 199178, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it., ORCID: 0000-0002-4443-2281

Received May 31, 2023

Abstract
This paper discusses methods for extracting significant events from data streams generated by actuating and sensory devices built into robotic means. An event-oriented model for managing data streams between embedded devices of a ground-based robotic vehicle using a knowledge base that stores information about embedded devices and their configurations has been developed. To isolate significant events from the streams of data generated by devices, the restrictions described in the device configurations are used. The proposed model also takes into account possible device failures. The generated events initiate the selection and launch of a certain process by a robotic means, for the description of which BPMN notation is used. The results of simulation modeling are shown, which confirm the effectiveness of the proposed event-oriented model, which provides a 41.8% reduction in data volumes processed by the central computer due to the distribution of calculations to the intermediate microcontrollers of embedded devices.

Key words
Data flows, distributed computation, events, knowledge base, ground robots.

DOI
10.31776/RTCJ.11406

Bibliographic description
Cherskikh, E.O. (2023). "Event-oriented model of data flow control between embedded devices of a ground-based robotic vehicle". Robotics and Technical Cybernetics, vol. 11, no. 4, pp. 292-302, DOI: 10.31776/RTCJ.11406. (in Russian).

UDC identifier
004:004.896:007.52

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