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ETHNOS: a light architecture for real-time mobile robotics

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3 Author(s)
Piaggio, M. ; Genoa Univ., Italy ; Sgorgbissa, A. ; Zaccaria, R.

Autonomous mobile robots have to perform a multiplicity of concurrent activities to carry out useful tasks while quickly reacting to sensorial inputs in a dynamic, partially unknown environment. The paper discusses the operating system requirements of a mobile robotic system, by focusing on the timing and communication requirements of the involved tasks. A distributed software architecture is proposed which implements a hybrid (pre-emptive/non-pre-emptive) task scheduling policy and a dedicated inter-task communication protocol, offering an efficient programming interface for the development of soft real-time robotic applications

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Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on  (Volume:3 )

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