By Topic

Semantic-Aware Real-Time Scheduling in Robotics

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Fulvio Mastrogiovanni ; Dipartimento di Informatica Sistemistica e Telematica, University of Genova, Genova, Italy ; Ali Paikan ; Antonio Sgorbissa

This paper introduces semantic-aware real-time (SeART), an extension to conventional operating systems, which deals with complex real-time robotics applications. SeART addresses the problem of selecting a subset of tasks to be scheduled depending on the current operating context: mission objectives, other tasks currently executed, the availability or unavailability of sensors and other resources, as well as temporal constraints. Toward this end, SeART is able to represent the semantics of tasks to be scheduled, i.e., what tasks are meant for, and to use this information in the scheduling process. This paper describes in detail the SeART architecture by focusing on representations and reasoning procedures, and presenting a case-study which is related to mobile robotics for autonomous objects transportation.

Published in:

IEEE Transactions on Robotics  (Volume:29 ,  Issue: 1 )