Modelling computational requirements of mobile robotic systems using zones and processing windows

Authors:
Ala' Qadi;Steve Goddard;Jiangyang Huang;Shane Farritor
Affiliations:
Computer Science & Engineering, University of Nebraska---Lincoln, Lincoln, USA 68588-0115;Computer Science & Engineering, University of Nebraska---Lincoln, Lincoln, USA 68588-0115;Itron, Inc, West Union, USA 29696;Mechanical Engineering, University of Nebraska---Lincoln, Lincoln, USA 68588-0656
Venue:
Real-Time Systems
Year:
2009

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Abstract

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 real-time scheduling through the use of zone and processing window abstractions.