Pre-emptive versus non-pre-emptive real time scheduling in intelligent mobile robotics

Authors: Piaggio M.; Sgorbissa A.; Zaccaria R.

Source: Journal of Experimental & Theoretical Artificial Intelligence, Volume 12, Number 2, 1 April 2000 , pp. 235-245(11)

Publisher: Taylor and Francis Ltd

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Abstract:

Autonomous and semi-autonomous mobile robots have to perform a multiplicity of concurrent activities in order to carry out useful tasks in unstructured human-populated environments. Even if it is commonly accepted that a successful accomplishment of assigned tasks requires some sort of real time capability to quickly react and adapt to environmental changes, it is not clear which operating system support is best suited for the scheduling and synchronizing of concurrent activities with different timing requirements. This paper discusses this problem, comparing two different real time scheduling policies for autonomous robot applications: pre-emptive rate monotonic and non pre-emptive Earliest Deadline First (EDF). Experimental results are presented and evaluated.

Keywords: REAL; TIME; SCHEDULING; MOBILE; ROBOTICS

Language: English

Document Type: Research article

Affiliations: 1: D. I. S. T., University of Genoa, Via Opera Pia 13, I - 16145 Genova, Italy

Publication date: 2000-04-01

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