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Smart Resource Integration for Robot Navigation on a Control Kerned Middleware Based System

Eduardo Munera, Manuel Muñoz Alcobendas, Jose-Luis Poza-Lujan, Juan L. Posadas Yagüe, Jose Simo-Ten, J. Francisco Blanes Noguera

Abstract


This paper introduces how mobile robots can perform navigation tasks by implementing a system based on the control kernel middleware (CKM), and how can take benefit of this. Smart resources are also included into the topology of the system, improving the processing and distribution of the computational load required by the system tasks. The CKM and the smart resources are both highly reconfigurable, even on execution time, and they also implement fault detection mechanisms and Quality of Service (QoS) policies. By combining of these capabilities, the system can be dynamically adapted to the requirements of its tasks. Furthermore, this solution is designed to be implemented by almost every type of robot. The distribution of load make this system suitable even for those configurations which are provided with a low computational power. All these benefits are improved by exploiting the smart resources capabilities, and the dynamic performance of the system.

Keywords


Distributed Control Systems, Control Kernel, Robot Navigation, Limited Resources Management, Embedded Systems.

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