Robust and efficient communication for real-time multi-process robot software

Author

Dantam, Neil ; Stilman, Mike

Author_Institution

Dept. of Interactive Comput., Georgia Inst. of Technol., Atlanta, GA, USA

fYear

2012

fDate

Nov. 29 2012-Dec. 1 2012

Firstpage

316

Lastpage

322

Abstract

We present a new Interprocess Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating drivers, controllers, and algorithms in complex robotic systems such as humanoid robots. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems, and we discuss the implementation on our humanoid robot Golem Krang. Finally, the source code for Ach is available under an Open Source permissive license.

Keywords

control engineering computing; humanoid robots; multiprocessing systems; public domain software; real-time systems; robot programming; Ach; IPC mechanism; complex robotic systems; efficient communication; head-of-line blocking problem; humanoid robot Golem Krang; humanoid robots; interprocess communication mechanism; library; open source permissive license; physical robotic systems; real-time multiprocess robot software; robust communication; source code; Arrays; Indexes; Process control; Real-time systems; Robots; Robustness; Software;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots (Humanoids), 2012 12th IEEE-RAS International Conference on

Conference_Location

Osaka

ISSN

2164-0572

Type

conf

DOI

10.1109/HUMANOIDS.2012.6651538

Filename

6651538