Experiments with a real-time multi-pipeline architecture for shared control

This paper summarizes results from both the hard real-time RACE optical navigation experiment and the soft real-time DATA-CHASER Shuttle demonstration project and presents an integrated architecture for both hard and soft real-time shared control. The results show significant performance advantages of the shared-control architecture and greatly simplified implementation using the derived framework. Lessons learned from both experiments and the implementation of this evolving architecture are presented along with plans for future work to make the framework a standardized kernel module available for VxWorks, Solaris, and Linux