If two or more CPUs share the lowest priority, the load is distributed between them using a technique called arbitration. 如果2个或更多的CPU共享最低的优先级,则使用一种将在仲裁的计数在它们之间进行负载划分。
As the core of model execution, Concerto engine controls the coordination of distributed component system by following certain arbitration rule, which resolves the deadlock and starvation. Concerto引擎作为模型运行的核心,按照特定的仲裁机制协调分布组件系统的运行,解决了死锁和饥饿问题。
An individual robot control program of distributed multiple mobile robot system was designed by using the module method. It includes sensor module, data processing module, world model module, decision module, execution module, arbitration module, communication module and so on. 采用模块化方法设计分布式多移动机器人系统中的个体机器人控制程序,包括传感器及其数据处理、世界模型、决策、执行、仲裁和通信等模块。