A Distributed Real-time Software Framework for Robotic Applications

A distributed real– time robot application framework is developed, to improve the scalability and reusability of software modules. The design is based on real– time CORBA and structured into two layers: the infrastructure layer for basic functionality and the service layer, which includes several reusable services. The implementation of the framework is evaluated from functionality and performance perspectives to demonstrate the feasibility of the design. The required functionality is achieved and performance tests show that the real– time aspect gives dramatic improvements in the performance of high priority tasks under load.