Scheduling a robotic real-time application

This paper describes the development of new generic real-time schedulers integrated in Linux / RTAI by IRIN¹laboratory from the university of Nantes²for the RNTL³project: Cleopatre⁴which regroups lots of French laboratories around robotic problematic. The new algorithms will be integrated into a mobile robotic platform. The first results came from three EDF (Earliest Deadline First) based algorithms. The first algorithm is the EDF model itself without any modifications. The second algorithm is based on EDF with a simple way to be fault-tolerant and the third one is fault-tolerant and executes a task optional function to get better results if time allows it.