Research on Tightly Coupled Multi-Robot Architecture Using Microkernel-Based, Real-Time, Distributed Operating System

This paper presents a method to build a real-time distributed operating system. We first discuss the theory of microkernels and their operating system implementations, to find a way to build a real-time distributed operating system that meet the requirements in constructing tightly coupled multi-robot architecture.We choose DROPS as the basis, and do many modifications on real time and distributivity on it, to make it hard real-time, and make both real-time and time-sharing components run distributed on it. We then use this operating system to implement a multi-robot architecture to show reasonableness and practicability. Besides in multi-robot architecture, we introduce the idea that, using this operating system, the clusters may allow any computer or computing device of the users to participate in, to build much bigger distributed systems, hence named advanced cloud computing.