HMP: a hierarchical multiprocessor computer architecture for multi-sensor based robotic tasks

A structure for sensory information organization and robot task planning is introduced, and HMP, a hierarchical multiprocessor computer architecture, is developed to support the real-time execution of the defined information structure. Queuing network analysis indicates that this hierarchical multiprocessor computer architecture, at least for the sets of loads defined, performs better than currently proposed systems based on single buses. All classes of data, except for large video data that have longer interarrival times, are transferred within 10 milliseconds, and most data are transferred at rates that are very close to their theoretical maximum speed. The gates, used for partitioning the buses, have also been successful; data transfers among processors inside the segment isolated by the gate have been speeded up while the transfer between clusters has either stayed the same or has been reduced slightly, compared to a system without gates.