ETHNOS: a light architecture for real-time mobile robotics

Author

Piaggio, Maurizio ; Sgorgbissa, A. ; Zaccaria, Renato

Author_Institution

Genoa Univ., Italy

Volume

3

fYear

1999

fDate

1999

Firstpage

1292

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

Keywords

mobile robots; network operating systems; processor scheduling; programming environments; real-time systems; robot programming; software architecture; timing; ETHNOS; autonomous mobile robots; communication requirements; concurrent activities; dedicated inter-task communication protocol; distributed software architecture; hybrid pre-emptive/nonpre-emptive task scheduling policy; light architecture; operating system requirements; programming interface; real-time mobile robotics; sensorial inputs; timing; Intelligent robots; Mobile communication; Mobile robots; Operating systems; Protocols; Robot sensing systems; Robotics and automation; Scheduling; Software architecture; Timing;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on

Conference_Location

Kyongju

Print_ISBN

0-7803-5184-3

Type

conf

DOI

10.1109/IROS.1999.811658

Filename

811658