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

ETHNOS: a Light Architecture for Real-Time Mobile Robotics

PIAGGIO, MAURIZIO;SGORBISSA, ANTONIO;ZACCARIA, RENATO UGO RAFFAELE
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
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Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/11567/529324
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