RT-MLab: Really Real-Time Robotics
نویسندگان
چکیده
A common misconception about real-time computing is that it is equivalent to \fast computing." Many robotics examples in recent history have shown that without rigorous understanding of the resource requirements and interactions of the software, these systems are doomed to failure. In this paper, we discuss our application of rigorous real-time analysis and execution methods to Georgia Tech's MissionLab system for robot tasking and control [Endo et al. 1999; MacKenzie, Arkin, & Cameron 1997]. In this paper, we describe RT-MLab, which combines MissionLab with Honeywell's MetaH realtime analysis and execution tool to provide real-time schedulability analysis and reliable real-time execution support for robot behaviour con gurations.
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