The need for autonomy and real-time in mobile robotics: a case study of XO/2 and Pygmalion

Author

Brega, Roberto ; Tomatis, Nicola ; Arras, Kai O.

Author_Institution

Inst. of Robotics, Swiss Federal Inst. of Technol., Zurich, Switzerland

Volume

2

fYear

2000

fDate

2000

Firstpage

1422

Abstract

Starting from a user point of view the paper discusses the requirements of a development environment (operating system and programming language) for mechatronic systems, especially mobile robots. We argue that user require ments from research, education, ergonomics and applications impose a certain functionality on the embedded operating system and programming language, and that a deadline-driven real-time operating system helps to fulfil these requirements. A case study of the operating system XO/2, its programming language Oberon-2 and the mobile robot Pygmalion is presented. XO/2 explicitly addresses issues like scalabilty, safety and abstraction, previously found to be relevant for many user scenarios

Keywords

control system CAD; mobile robots; operating systems (computers); real-time systems; Oberon-2; Pygmalion; XO/2 operating system; abstraction; embedded operating system; mobile robotics; real-time system; safety; scalabilty; Computer aided software engineering; Computer languages; Hardware; Mechatronics; Mobile robots; Operating systems; Paper technology; Real time systems; Safety; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on

Conference_Location

Takamatsu

Print_ISBN

0-7803-6348-5

Type

conf

DOI

10.1109/IROS.2000.893220

Filename

893220