A New Algorithm for Real-Time Scheduling and Resource Mapping for Robot Operating Systems (ROS)

A new version of a robot operating system (ROS-2) has been developed to address the real-time and fault constraints of distributed robotics applications. However, current implementations lack strong real-time scheduling and the optimization of response time for various tasks and applications. This m...

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Bibliographic Details
Published in:Applied sciences 2023-01, Vol.13 (3), p.1532
Main Author: Chaaban, Alain Khaled
Format: Article
Language:English
Subjects:
Algorithms
Applications programs
Design
embedded real-time systems
Embedded systems
Executors
Genetic algorithms
Heuristic
Linear programming
Mapping
Operating systems
Optimization
Real time
real-time scheduling
Response time
ROS (robot operating system)
Scheduling
Software
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Summary:A new version of a robot operating system (ROS-2) has been developed to address the real-time and fault constraints of distributed robotics applications. However, current implementations lack strong real-time scheduling and the optimization of response time for various tasks and applications. This may lead to inconsistent system behavior and may affect system performance. This article presents a new and efficient heuristic scheduling algorithm for the ROS-2 framework to improve resource mapping and system scheduling for robotics applications. The proposed scheduling design includes grouping callbacks into executors, assigning executor priority, and sequencing callbacks inside executors. The timing constraints and functional properties are expressed in the formal design model, and real-time scheduling is performed with respect to the timing constraints. The benefits of the proposed solution are demonstrated by a set of experimental results. Using this algorithm, it is shown that the number of executors needed to schedule a set of callbacks is minimized and the system schedulability is maximized for loaded and overloaded cases.
ISSN:2076-3417
2076-3417
DOI:10.3390/app13031532