A Decentralized Data Replication Approach for the Reconfigurable Robotic Information and Control Systems

This paper continues our previous studies on the reconfigurable robotic information and control system dependability. We consider the approach to the configuration forming optimization problem solving. This approach presupposes the criteria number reducing by the additional software functions implementation. These functions include tasks context data replication to the computational units, where those tasks can be launched after the reconfiguration procedure. Within the current paper some generic approaches to the context data storage element interaction are presented. The first approach is centralized and based on the principles of Viewstamped replication protocol, the second one is fully decentralized. Both of the approaches are discussed and estimated in terms of the communication environment workload, the conclusion is made, as well as some outlines of the future work.