A real-time library for the design of hybrid robot control architectures

Beccari, G.; Caselli, Stefano; Reggiani, Monica; Zanichelli, Francesco

doi:10.1109/iros.1998.727453

Cited by 4 publications

(6 citation statements)

References 13 publications

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“…The experiments emphasize the effectiveness of the approach for complex, high-dimensionality planning problems. The motion planner described in this paper has also been exploited in a robot kitting task involving a 6 dof manipulator fed with parts by a mobile robot [2].…”

Section: Discussionmentioning

confidence: 99%

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Randomized motion planning on parallel and distributed architectures

Caselli

Reggiani

1999

Proceedings of the Seventh Euromicro Workshop on Parallel and Distributed Processing. PDP'99

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Section: Discussionmentioning

confidence: 99%

“…In a multimovers problem several objects move in a shared environment. Due to our research bias [2], in the following we will refer to the objects whose motion must be planned as the robots.…”

Section: The Motion Planning Problemmentioning

confidence: 99%

Randomized motion planning on parallel and distributed architectures

Caselli

Reggiani

1999

Proceedings of the Seventh Euromicro Workshop on Parallel and Distributed Processing. PDP'99

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“…Nominally, in a 80 hyperperiod test interval, 1 should be executed 640 times, 2 320 times, 3 160 times, and 4 80 times. After 10 hyperperiods about 1600 ms the execution times of 2 , 3 , and 4 are arti cially doubled so that the requested utilization becomes U = 1 :1 and overload occurs. Table 4 shows some statistics about the number of overruns and cycle skips undergone by 3 3 and 4 miss several deadlines and their computation times become greater than their periods for the 1600-15000 interval of Figure 2 top.…”

Section: Resultsmentioning

confidence: 99%

“…After 10 hyperperiods about 1600 ms the execution times of 2 , 3 , and 4 are arti cially doubled so that the requested utilization becomes U = 1 :1 and overload occurs. Table 4 shows some statistics about the number of overruns and cycle skips undergone by 3 3 and 4 miss several deadlines and their computation times become greater than their periods for the 1600-15000 interval of Figure 2 top. As automatic skips are performed by the rt-lib library, l o w priority thread execution is delayed while 1 and 2 complete their given number of cycles earlier nearly at 15000 ms. After that, no overrun is detected, being 3 and 4 amply guaranteed.…”

Section: Resultsmentioning

confidence: 99%

“…Table 5 shows statistics about the number of overruns and skips occurring to 3 when rate modulation is enabled. Modulation is performed at the rst overrun detection Figure 2 bottom by the timing fault handler procedure hooked to 3 The adopted rescaling fully guarantees the computation of 4 , which w as required to be hard real-time but also retains the lower priority in the system.…”

Section: Resultsmentioning

confidence: 99%

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Rate modulation of soft real-time tasks in autonomous robot control systems

Beccari

Caselli

Reggiani

et al.

Proceedings of 11th Euromicro Conference on Real-Time Systems. Euromicro RTS'99

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Due to the high number of sensors managed and need to perform complex reasoning activities, real-time control systems of autonomous robots exhibit a high potential for overload, i.e., real-time tasks missing their deadlines. In these systems overload should be regarded as a likely occurrence and hence managed accordingly. In this paper we illustrate a novel scheduling technique for adaptation of soft real-time load to available computational capacity in the context of autonomous robot control architectures. The technique is based o n r ate modulation of a set of periodic tasks in a range of admissible rates. The technique is shown to be easily computable and several variations in implementation are reviewed within the paper.

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A Technique for Adaptive Scheduling of Soft Real-Time Tasks

2005

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A number of multimedia and process control applications can take advantage from the ability to adapt soft real-time load to available computational capacity. This capability is required, for example, to react to changed operating conditions as well as to ensure graceful degradation of an application under transient overloads.In this paper, we illustrate a novel adaptive scheduling technique based on rate modulation of a set of periodic tasks in a range of admissible rates. By casting constraints on rate ranges in a linear programming formulation, several adaptation policies can be considered, along with additional constraints reflecting various application requirements. The paper investigates the effectiveness of rate modulation strategies both on simulated task sets and on real experiments.

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A real-time library for the design of hybrid robot control architectures

Cited by 4 publications

References 13 publications

Randomized motion planning on parallel and distributed architectures

Randomized motion planning on parallel and distributed architectures

Rate modulation of soft real-time tasks in autonomous robot control systems

A Technique for Adaptive Scheduling of Soft Real-Time Tasks

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