Real-time distributed executive for an obstacle detection system

In this paper, real-time distributed executive is presented, which is suited for embedded obstacle detection system. The real-time distribution and parallel execution are supported by generic executive kernel which contains a portable set of services and a real-time micro-kernel which controls concurrent processes and schedules their execution. The proposal executive is obtained by graph transformation methodology. This approach exploits the inherent parallelism of the application, preserves the formal specification of program and provides developers with control over the evolution of an application during its development. Consequently, the executive obtained is a compromise solution between portability and efficiency