PULSER: a sensitive operating system for open and distributed human-robot-computer interactive systems

Autonomous mobile robots are required to be sensitive to changes of their surrounding environment for handling physical resources and supporting open and distributed human-robot-computer systems. But it is difficult to incorporate sensitivity into real-time systems, and to identify the owner of a physical resource in an open and distributed human-robot-computer system. In this paper, the authors present an operating system PULSER that supports sensitivity with real-time facility, and provides a physical resource manager that is based on the ownership model, the solution to the physical ownership problem. Also, they describe a new facility for wireless communications in open and distributed systems