Operating system support for adaptable real-time systems

摘要

This paper outlines our plans for a real-time systems research program to support the longterm goal of developing intelligent robots. The distinguishing characteristic of our approach to real-time systems is an emphasis on system adaptability in a dynamic real-world environment. We achieve adaptability by allowing multiple real-time process models, with different known properties and timing constraints, to coexist within a single system and application. Using a hardware architecture in which a large-scale multiprocessor controls a behavioral system with vision and manipulation capabilities, we are constructing a prototype software environment that provides a predictable schedule for reflexive robot tasks and a flexible environment for implementing adaptive cognitive robot tasks. We will exploit multiple processors, user-level scheduling, and user-defined process and communication models in the construction of real-time robotics applications. 1. Introduction A primary goal of modern re...