RT-Est: Real-Time Operating System for Semi-fixed-Priority Scheduling Algorithms

This paper presents RT-Est, which is a real-time operating system for semi-fixed-priority scheduling algorithms. RT-Est implements the following mechanisms: (i) the hybrid O(1) scheduler, which is an extension of the O(1) scheduler in Linux kernel 2.6, to achieve semi-fixed-priority scheduling with low overhead, (ii) the high resolution timer, which performs to terminate optional parts at optional deadlines, (iii) SIM, which is an architecture for simulating real-time scheduling. Experimental evaluations show that semi-fixed-priority scheduling is well suited to autonomous mobile robots.