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Fixed-priority scheduling of variable rate tasks for an autonomous mobile robot

Authors:

Ala Qadi,

Steve GoddardAuthors Info & Claims

ACM SIGBED Review, Volume 2, Issue 2

Pages 15 - 18

https://doi.org/10.1145/1121788.1121794

Published: 01 April 2005 Publication History

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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). The application requires adjusting task periods on the foreman to achieve desired performance metrics with respect to the speed at which a system activity 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.

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Liu YZhao WLutz TYue X(2022)Task allocation and coordinated motion planning for autonomous multi-robot optical inspection systemsJournal of Intelligent Manufacturing10.1007/s10845-021-01803-133:8(2457-2470)Online publication date: 1-Dec-2022
https://dl.acm.org/doi/10.1007/s10845-021-01803-1

Index Terms

Fixed-priority scheduling of variable rate tasks for an autonomous mobile robot
1. Computer systems organization
  1. Architectures
    1. Other architectures
      1. Special purpose systems
  2. Embedded and cyber-physical systems
    1. Robotics
2. Computing methodologies
  1. Artificial intelligence
    1. Control methods
      1. Robotic planning
    2. Planning and scheduling
      1. Robotic planning

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Published In

ACM SIGBED Review Volume 2, Issue 2

Special issue: IEEE RTAS 2005 work-in-progress

April 2005

42 pages

EISSN:1551-3688

DOI:10.1145/1121788

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Association for Computing Machinery

New York, NY, United States

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Published: 01 April 2005

Published in SIGBED Volume 2, Issue 2

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Liu YZhao WLutz TYue X(2022)Task allocation and coordinated motion planning for autonomous multi-robot optical inspection systemsJournal of Intelligent Manufacturing10.1007/s10845-021-01803-133:8(2457-2470)Online publication date: 1-Dec-2022
https://dl.acm.org/doi/10.1007/s10845-021-01803-1

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Preference-oriented fixed-priority scheduling for periodic real-time tasks

A mobile robot with autonomous climbing and descending of stairs

Analysis on quantum-based fixed priority scheduling of real-time tasks

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