A performance and schedulability analysis of an autonomous mobile robot

Ala Qadi, Steve Goddard, Jiangyang Huang, Shane Farritor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

9 Scopus citations

Abstract

We present an autonomous, mobile, robotics application that requires dynamic adjustments of task execution rates to meet the demands of an unpredictable environment. The Robotic Safety Marker (RSM) system consists of one lead robot, the foreman, and a group of guided robots, called robotic safety markers (a.k.a., barrels). An extensive analysis is conducted of two applications running on the foreman. Both applications require adjusting task periods to achieve desired performance metrics with respect to the speed at which a system task is completed, the accuracy of RSM placement, or the number of RSMs controlled by the foreman. A static priority scheduling solution is proposed that takes into consideration the strict deadline requirements of some of the tasks and their dynamic periods. Finally, a schedulability analysis is developed that can be executed online to accommodate the dynamic performance requirements and to distinguish between safe operating points and potentially unsafe operating points.

Original languageEnglish (US)
Title of host publicationProceedings - 17th Euromicro Conference on Real-Time Systems, ECRTS 2005
Pages239-248
Number of pages10
DOIs
Publication statusPublished - Dec 1 2005
Event17th Euromicro Conference on Real-Time Systems, ECRTS 2005 - Palma de Mallorca, Balearic Islands, Spain
Duration: Jul 6 2005Jul 8 2005

Publication series

NameProceedings - Euromicro Conference on Real-Time Systems
Volume2005
ISSN (Print)1068-3070

Conference

Conference17th Euromicro Conference on Real-Time Systems, ECRTS 2005
CountrySpain
CityPalma de Mallorca, Balearic Islands
Period7/6/057/8/05

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ASJC Scopus subject areas

  • Software
  • Hardware and Architecture

Cite this

Qadi, A., Goddard, S., Huang, J., & Farritor, S. (2005). A performance and schedulability analysis of an autonomous mobile robot. In Proceedings - 17th Euromicro Conference on Real-Time Systems, ECRTS 2005 (pp. 239-248). [1508465] (Proceedings - Euromicro Conference on Real-Time Systems; Vol. 2005). https://doi.org/10.1109/ECRTS.2005.2