A performance and schedulability analysis of an autonomous mobile robot

We present an autonomous, mobile, robotics application that requires dynamic adjustments of task execution rates to meet the demands of an unpredictable environment. The Robotic Safety Marker (RSM) system consists of one lead robot, the foreman, and a group of guided robots, called robotic safety markers (a.k.a., barrels). An extensive analysis is conducted of two applications running on the foreman. Both applications require adjusting task periods to achieve desired performance metrics with respect to the speed at which a system task is completed, the accuracy of RSM placement, or the number of RSMs controlled by the foreman. A static priority scheduling solution is proposed that takes into consideration the strict deadline requirements of some of the tasks and their dynamic periods. Finally, a schedulability analysis is developed that can be executed online to accommodate the dynamic performance requirements and to distinguish between safe operating points and potentially unsafe operating points.