Real-time Embedded Architecture for improving Pervasive Robot Services

다국어 초록 (Multilingual Abstract)

The integration of embedded real-time control systems with the physical world via sensors and actuators (pervasive computing systems) is creating a nascent infrastructure for a technical, economic and social revolution. Service robots have to execute tasks that have different criticality, flexible timing constraints and variable execution time, because they perform their activities in dynamic and unpredictable environments, they share resources and have to cooperate to fulfill the objectives. The environmental conditions have influence in the variability of the system load. For instance, the computational requirements of recognition tasks are variable and dependent on the number of objects perceived in scenes. To tackle the computational variability of pervasive robots a real-time architecture is proposed in this paper.

목차 (Table of Contents)

• Abstract
• 1. Introduction
• 2. Related work
• 3. Real-time architecture
• 3.1 Task model
• 4. Scheduling system
• 4.1 QoS Manager
• 5 Service robot application
• 5.1 Scene analysis
• 5.2 Evaluation of the improvements of robot services
• 6. Conclusions
• Reference