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

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

doi:10.1109/emrts.1999.777446

Cited by 40 publications

(29 citation statements)

References 14 publications

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“…According to their elastic approach, task utilizations are treated as springs that can be compressed through period variations to conform with a given workload. A slightly different method was proposed by Beccari et al [6] in the context of soft real-time robotic applications. In both techniques, however, tasks execution times are assumed to be constant.…”

Section: Related Workmentioning

confidence: 99%

Handling execution overruns in hard real-time control systems

Caccamo¹,

Buttazzo²,

Sha³

2002

IEEE Trans. Comput.

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AbstractÐIn many real-time control applications, the task periods are typically fixed and worst-case execution times are used in schedulability analysis. With the advancement of robotics, flexible visual sensing using cameras has become a popular alternative to the use of embedded sensors. Unfortunately, the execution time of visual tracking varies greatly. In such environments, control tasks have a normally short computation time, but also an occasional long computation time; therefore, the use of worst-case execution time is inefficient for control performance optimization. Nevertheless, to maintain the control stability, we still need to guarantee the schedulability of the task set, even if the worst case arises. In this paper, we propose an integrated approach to control performance optimization and task scheduling for control applications where the execution time of each task can vary greatly. We present an innovative approach to overrun management that allows us to fully utilize the processor for optimizing the control performance and yet guaranteeing the schedulability of all tasks under worst-case conditions.

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Section: Related Workmentioning

confidence: 99%

Handling execution overruns in hard real-time control systems

Caccamo¹,

Buttazzo²,

Sha³

2002

IEEE Trans. Comput.

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“…In Sec-with given elastic coefficients and constraints. The goal tion V, we briefly present the implementation complexity of this and similar approaches, such as [14], [15], is 172 …”

Section: *Supported By the Eu Artistdesign Network Of Excellence Onmentioning

confidence: 99%

“…In order to measure scheduler execution times, we schedule 9 different sets of simulated processes with 10, 25, 50, 75, 100, 150, 250, 500, and 750 processes each, with the number of distinguishable time instants t in the scheduler fixed to 2 14 == 16384. During these experiments the execution time of every single scheduler invocation is measured using the software oscilloscope tool TuningFork [30].…”

Section: A Scheduler Overheadmentioning

confidence: 99%

Programmable temporal isolation through variable-bandwidth servers

Craciunas

Kirsch

Payer

et al. 2009

2009 IEEE International Symposium on Industrial Embedded Systems

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Document VersionPublisher's PDF, also known as Version of Record (includes final page, issue and volume numbers) Please check the document version of this publication:• A submitted manuscript is the author's version of the article upon submission and before peer-review. There can be important differences between the submitted version and the official published version of record. People interested in the research are advised to contact the author for the final version of the publication, or visit the DOI to the publisher's website.• The final author version and the galley proof are versions of the publication after peer review.• The final published version features the final layout of the paper including the volume, issue and page numbers. Link to publicationCitation for published version (APA): Sokolova, A., Craciunas, S. S., Kirsch, C. M., Payer, H., & Röck, H. (2009). Programmable temporal isolation through variable-bandwidth servers. In Proceedings Fourth IEEE International Symposium on Industrial Embedded Systems (SIES 2009, Lausanne, Switzerland, July 8-10, 2009 General rightsCopyright and moral rights for the publications made accessible in the public portal are retained by the authors and/or other copyright owners and it is a condition of accessing publications that users recognise and abide by the legal requirements associated with these rights.• Users may download and print one copy of any publication from the public portal for the purpose of private study or research.• You may not further distribute the material or use it for any profit-making activity or commercial gain • You may freely distribute the URL identifying the publication in the public portal ? Take down policyIf you believe that this document breaches copyright please contact us providing details, and we will remove access to the work immediately and investigate your claim. Abstract-We introduce variable-bandwidth servers (VBS) for scheduling and executing processes under programmable temporal isolation. A VBS is an extension of a constant-bandwidth server where throughput and latency of process execution can not only be controlled to remain constant across different competing workloads but also to vary in time as long as the resulting bandwidth stays below a given bandwidth cap. We have designed and implemented a VBS-based EDF-style constant-time scheduling algorithm, a constant-time admission test, and four alternative queue management plugins which influence the scheduling algorithm's overall temporal and spatial complexity. Experiments confirm the theoretical bounds in a number of microbenchmarks and demonstrate that the scheduler can effectively manage in constant time any number of processes up to available memory while maintaining response times of individual processes within a bounded range. We have also developed a small-footprint, bare-metal virtual machine that uses VBS for temporal isolation of multiple, concurrently running processes executing real code. I. INTRODUCTIONVirtualization has always been a fascinating topic in sys...

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“…Examples of applying the real-time scheduling to robotics can be found in [7,9,22,3,17,18,23,2,16,10,13,14]. Of these, rate monotonic (RM) [15] scheduling was used in [9,22,3,17]; earliest deadline first (EDF) [15] scheduling was used in [17,23]; and feedback based scheduling techniques in [22,10,14].…”

Section: Related Workmentioning

confidence: 99%

“…We define the point (in space and time) at which the platform starts collecting data about its environment from its sensors for zone Z i as data collection point B i . Using the same methodology used to represent planning points, data collection point B i can be represented by the tuple (t , and the processing window duration w can be calculated from Equation (3).…”

Section: The Abstractionsmentioning

confidence: 99%