원문정보
초록
영어
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
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