A Real-Time Kernel for Distributed Multi-Robot Systems

A distributed real-time kernel is being developed to support multi-robot systems. Our research is motivated by the difficulties encountered when implementing time dependent distributed application programs such as distributed multi-robot control systems using existing operating systems. These difficulties arise because most systems are designed to provide good average performance, making it impossible to implement programs whose correctness depends on exact timing. Our distributed kernel provides a set of primitives that can used to implement applications requiring predictable timing behaviors. This paper discusses the design and implementation of a distributed real-time kernel. The kernel provides a hierarchy of interprocess communication primitives with increasing overheads and a generic way to interact with external devices. A distributed multi-robot control system being developed to evaluate our kernel is also described.