Real-time scheduling and guidance of mobile robots on factory floors using Monte Carlo methods under windows NT

Zaera, M.; Esteve, M.; Palau, Carlos E.; Guerri, Juan Carlos; Martínez, Francisco Javier Zaragoza; Córdoba, Pedro Fernández de

doi:10.1109/etfa.2001.996355

Cited by 4 publications

(2 citation statements)

References 13 publications

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“…Examples of applying the classic periodic task model to robotics can be found in [9,2,12,14,6]. Examples of applying rate monotonic (RM) [11] scheduling algorithm to the control of an autonomous mobile robot can be found in [3,6,13,18], the earliest deadline first (EDF) [11] scheduling algorithm can be found in [13,19] and feedback based scheduling techniques in [7,10,18].…”

Section: Related Workmentioning

confidence: 99%

Dynamic Speed and Sensor Rate Adjustment for Mobile Robotic Systems

Qadi

Goddard

Huang

et al. 2007

19th Euromicro Conference on Real-Time Systems (ECRTS'07)

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Mobile robotic systems must sense constraints imposed by a dynamically changing environment and predictably react to those changes in real-time. Complexity arises in mobile robotic systems because the computing platform travels through the environment with which the system is interacting. These systems have spatio-temporal requirements in the sense that correct behavior is defined in terms of both space and time. The focus of this paper is mobile robotic platforms that must sense their environment and avoid obstacles as they navigate from one point to another. We present a design and analysis methodology for these platforms that integrates spatio-temporal attributes with fixed priority realtime scheduling through the use of zone and processing window abstractions. We propose an algorithm for adjustment of the processing window in order maximize the speed of the robot as it faces obstacles in the environment.

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Section: Related Workmentioning

confidence: 99%

Dynamic Speed and Sensor Rate Adjustment for Mobile Robotic Systems

Qadi

Goddard

Huang

et al. 2007

19th Euromicro Conference on Real-Time Systems (ECRTS'07)

View full text Add to dashboard Cite

show abstract

“…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%