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

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2 Author(s)
Hiroyuki Chishiro ; Sch. of Sci. for Open & Environ. Syst., Keio Univ., Yokohama, Japan ; Nobuyuki Yamasaki

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.

Published in:

Embedded and Ubiquitous Computing (EUC), 2011 IFIP 9th International Conference on

Date of Conference:

24-26 Oct. 2011