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EnglishAutonomous mobile robots have to perform a multiplicity of concurrent activities to carry out useful tasks while quickly reacting to sensorial inputs in a dynamic, partially unknown environment. The paper discusses the operating system requirements of a mobile robotic system, by focusing on the timing and communication requirements of the involved tasks. A distributed software architecture is proposed which implements a hybrid (pre-emptive/non-pre-emptive) task scheduling policy and a dedicated inter-task communication protocol, offering an efficient programming interface for the development of soft real-time robotic applications
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| Titolo: | ETHNOS: a Light Architecture for Real-Time Mobile Robotics |
| Autori: | |
| Data di pubblicazione: | 1999 |
| Abstract: | Autonomous mobile robots have to perform a multiplicity of concurrent activities to carry out useful tasks while quickly reacting to sensorial inputs in a dynamic, partially unknown environment. The paper discusses the operating system requirements of a mobile robotic system, by focusing on the timing and communication requirements of the involved tasks. A distributed software architecture is proposed which implements a hybrid (pre-emptive/non-pre-emptive) task scheduling policy and a dedicated inter-task communication protocol, offering an efficient programming interface for the development of soft real-time robotic applications |
| Handle: | http://hdl.handle.net/11567/529324 |
| Appare nelle tipologie: | 04.01 - Contributo in atti di convegno |
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