Upgrading the ContrACT Scheduler with Useful Mechanisms for Dependability of Real-Time Systems

Robin Passama 1 David Andreu 2 Bertrand Brun 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Nowadays, current research in the development of a robot focuses on ensuring the safety of persons around the robot and on resilience to recover from errors. As part of the general problem, managing real-time aspects is of main importance regarding "fault tolerance" in robotic systems, to monitor and adjust control scheme execution or to guarantee ex- ecution of critical behaviors prior to less important ones. In this context, the paper describes our cur- rent work on the ContrACT middleware [10] to en- hance its real-time scheduling service for instance to provide to users some means to observe and po- tentially react to temporal errors occurring during periodic loops execution.
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Robin Passama, David Andreu, Bertrand Brun. Upgrading the ContrACT Scheduler with Useful Mechanisms for Dependability of Real-Time Systems. CAR: Control Architectures of Robots, May 2012, Nancy, France. ⟨lirmm-00801171⟩

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