Corpus ID: 214727675

The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks

@article{Rossi2020ThePD,
  title={The Pluggable Distributed Resource Allocator (PDRA): a Middleware for Distributed Computing in Mobile Robotic Networks},
  author={Federico Rossi and Tiago Stegun Vaquero and Marc Sanchez Net and Ma'ira Saboia da Silva and Joshua Vander Hook},
  journal={ArXiv},
  year={2020},
  volume={abs/2003.13813}
}
  • Federico Rossi, Tiago Stegun Vaquero, +2 authors Joshua Vander Hook
  • Published 2020
  • Engineering, Computer Science
  • ArXiv
  • We present the Pluggable Distributed Resource Allocator (PDRA), a middleware for distributed computing in heterogeneous mobile robotic networks. PDRA enables autonomous agents to share computational resources for computationally expensive tasks such as localization and path planning. It sits between an existing single-agent planner/executor and existing computational resources (e.g. ROS packages), intercepts the executor's requests and, if needed, transparently routes them to other nodes for… CONTINUE READING

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