Development of embedded devices in real-time autonomous robots

In this work a development of embedded systems suited for the implementation of robotic perceptions is described. The real-time applications are scheduled by a realtime micro-kernel? called YARTOS (Yet Another Real-Time Operating System), designed and developed for that, and running on the Motorola Coldfire micro-controller. In this paper the main features of such embedded system are illustrated and its performances evaluated using classical benchmarks are presented