Title :
ETHNOS: a light architecture for real-time mobile robotics
Author :
Piaggio, Maurizio ; Sgorgbissa, A. ; Zaccaria, Renato
Author_Institution :
Genoa Univ., Italy
Abstract :
Autonomous mobile robots have to perform a multiplicity of concurrent activities to carry out useful tasks while quickly reacting to sensorial inputs in a dynamic, partially unknown environment. The paper discusses the operating system requirements of a mobile robotic system, by focusing on the timing and communication requirements of the involved tasks. A distributed software architecture is proposed which implements a hybrid (pre-emptive/non-pre-emptive) task scheduling policy and a dedicated inter-task communication protocol, offering an efficient programming interface for the development of soft real-time robotic applications
Keywords :
mobile robots; network operating systems; processor scheduling; programming environments; real-time systems; robot programming; software architecture; timing; ETHNOS; autonomous mobile robots; communication requirements; concurrent activities; dedicated inter-task communication protocol; distributed software architecture; hybrid pre-emptive/nonpre-emptive task scheduling policy; light architecture; operating system requirements; programming interface; real-time mobile robotics; sensorial inputs; timing; Intelligent robots; Mobile communication; Mobile robots; Operating systems; Protocols; Robot sensing systems; Robotics and automation; Scheduling; Software architecture; Timing;
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
DOI :
10.1109/IROS.1999.811658
