Real-Time Performance Evaluation for Robotics: An Approach using the Robotstone Benchmark

This paper discusses a novel approach to evaluate the real-time performance of computing platforms embedded in robotic systems. The motivation behind this work is the need for the robotic systems to meet their timing constraints, thus requiring time predictable real-time systems. We proposed a bench...

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Bibliographic Details
Published in:Journal of intelligent & robotic systems 2021-02, Vol.101 (2), p.37, Article 37
Main Authors: Pinto, Matheus Leitzke, Wehrmeister, Marco Aurélio, de Oliveira, André Schneider
Format: Article
Language:English
Subjects:
Artificial Intelligence
Control
Electrical Engineering
Employee motivation
Engineering
Mechanical Engineering
Mechatronics
Middleware
Robotics
Topical Collection on ICAR 2019 Special Issue
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Summary:This paper discusses a novel approach to evaluate the real-time performance of computing platforms embedded in robotic systems. The motivation behind this work is the need for the robotic systems to meet their timing constraints, thus requiring time predictable real-time systems. We proposed a benchmark, named the Robotstone, which is an adaptation of a traditional real-time performance benchmark widely known in the real-time systems community. Thus, the presented work makes it easier for a robotic engineer to apply the benchmark in the modern robotics context by filtering out issues that do not matter on the robotics applications and adapting the benchmark’s relevant portions. The Robotstone has a set of experiments related to time-constrained application scenarios usually found in robotic systems. Each experiment defines an application-specific parameter that increases at every iteration until the system overloads. The real-time performance is then evaluated through the breakdown point, i.e., the system configuration in the application scenario when any functional or timing constraint is not met. The proposed toolset has been evaluated on two distinct platforms representing a class of embedded computing systems usually employed in robotic systems. Obtained results demonstrate the applicability of the Robotstone benchmark for a quick assessment of computing systems’ real-time performance often required on initial development stages of a robotic system.
ISSN:0921-0296
1573-0409
DOI:10.1007/s10846-020-01301-1