NDLI: A Real-Time Kernel for Distributed Multi-Robot Systems

Content Provider	IEEE Xplore Digital Library
Author	Lee, Insup King, Robert Yun, Xiaoping
Copyright Year	1988
Description	Author affiliation: General Robotics and Active Sensory Perception Laboratory, Department of Computer and Information Science, University of Pennsylvania, Philadelphia, PA 19104 (Lee, Insup; King, Robert; Yun, Xiaoping)
Abstract	A distributed real-time kernel is being developed to support multi-robot systems. Our research is motivated by the difficulties encountered when implementing time dependent distributed application programs such as distributed multi-robot control systems using existing operating systems. These difficulties arise because most systems are designed to provide good average performance, making it impossible to implement programs whose correctness depends on exact timing. Our distributed kernel provides a set of primitives that can used to implement applications requiring predictable timing behaviors. This paper discusses the design and implementation of a distributed real-time kernel. The kernel provides a hierarchy of interprocess communication primitives with increasing overheads and a generic way to interact with external devices. A distributed multi-robot control system being developed to evaluate our kernel is also described.
Starting Page	1083
Ending Page	1088
File Size	602303
Page Count	6
File Format	PDF
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1988-06-15
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Real time systems Kernel Multirobot systems Timing Robot sensing systems Control systems Robot kinematics Operating systems Communication system control Force sensors
Content Type	Text
Resource Type	Article

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