Using distributed systems in real-time control of autonomous vehicles

Authors:
Urbano Nunes;José Alberto Fonseca;Luís Almeida;Rui Araújo;Rodrigo Maia
Affiliations:
Institute for Systems and Robotics (ISR), University of Coimbra, 3030-290 Coimbra (Portugal);Department of Electronics and Telecommunications, University of Aveiro, 3810-193 Aveiro (Portugal);Department of Electronics and Telecommunications, University of Aveiro, 3810-193 Aveiro (Portugal);Institute for Systems and Robotics (ISR), University of Coimbra, 3030-290 Coimbra (Portugal);Institute for Systems and Robotics (ISR), University of Coimbra, 3030-290 Coimbra (Portugal)
Venue:
Robotica
Year:
2003

Citing 12
Cited 0

Real-time obstacle avoidance for manipulators and mobile robots

International Journal of Robotics Research
Profibus: the fieldbus for industrial automation

Profibus: the fieldbus for industrial automation
Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications

Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications
Robot Pose Estimation in Unknown Environments by Matching 2D Range Scans

Journal of Intelligent and Robotic Systems
A Wheelchair Steered through Voice Commands and Assisted by a Reactive Fuzzy-Logic Controller

Journal of Intelligent and Robotic Systems
Guest Editor's Introduction: Critical Embedded Automotive Networks

IEEE Micro
Time-Triggered Architecture: A Consistent Computing Platform

IEEE Micro
The FTT-CAN Protocol for Flexibility in Safety-Critical Systems

IEEE Micro
Event-Triggered Versus Time-Triggered Real-Time Systems

Proceedings of the International Workshop on Operating Systems of the 90s and Beyond
The FTT-Ethernet Protocol: Merging Flexibility,Timeliness and Efficiency

ECRTS '02 Proceedings of the 14th Euromicro Conference on Real-Time Systems
Achieving Real-Time Communication over Ethernet with Adaptive Traffic Smoothing

RTAS '00 Proceedings of the Sixth IEEE Real Time Technology and Applications Symposium (RTAS 2000)
Spatial learning for navigation in dynamic environments

IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper distributed architectures for autonomous vehicles are addressed, with a special emphasis on its real-time control requirements. The interconnection of the distributed intelligent subsystems is a key factor in the overall performance of the system. To better understand the interconnection requirements, the main techniques and modules of a global navigation system are described. A special focus on fieldbuses properties and major characteristics is made in order to point out some potentialities, which make them attractive in autonomous vehicles real-time applications, either in terms of reliability as in terms of real-time restrictions.