Conference proceeding
A performance and schedulability analysis of an autonomous mobile robot
17th Euromicro Conference on Real-Time Systems (ECRTS'05), Vol.2005, pp.239-248
2005
DOI: 10.1109/ECRTS.2005.2
Abstract
We present an autonomous, mobile, robotics application that requires dynamic adjustments of task execution rates to meet the demands of an unpredictable environment. The Robotic Safety Marker (RSM) system consists of one lead robot, the foreman, and a group of guided robots, called robotic safety markers (a.k.a., barrels). An extensive analysis is conducted of two applications running on the foreman. Both applications require adjusting task periods to achieve desired performance metrics with respect to the speed at which a system task is completed, the accuracy of RSM placement, or the number of RSMs controlled by the foreman. A static priority scheduling solution is proposed that takes into consideration the strict deadline requirements of some of the tasks and their dynamic periods. Finally, a schedulability analysis is developed that can be executed online to accommodate the dynamic performance requirements and to distinguish between safe operating points and potentially unsafe operating points.
Details
- Title: Subtitle
- A performance and schedulability analysis of an autonomous mobile robot
- Creators
- Ala' Qadi - Lincoln University - PennsylvaniaS Goddard - Lincoln University - PennsylvaniaJiangyang Huang - University of Nebraska–LincolnS Farritor - University of Nebraska–Lincoln
- Resource Type
- Conference proceeding
- Publication Details
- 17th Euromicro Conference on Real-Time Systems (ECRTS'05), Vol.2005, pp.239-248
- Publisher
- IEEE
- DOI
- 10.1109/ECRTS.2005.2
- ISSN
- 1068-3070
- eISSN
- 2377-5998
- Language
- English
- Date published
- 2005
- Academic Unit
- Computer Science
- Record Identifier
- 9984259404702771
Metrics
57 Record Views