Reliable real-time cooperation of mobile autonomous systems
- 1 January 2001
- proceedings article
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Autonomous systems are expected to provide increasingly complex and safety-critical services that will, sooner or later, require the cooperation of several autonomous sys- tems for their fulfillment. In particular, coordinating the access to shared physical and information technological resources will become a general problem. Scheduling these resources is subject to strong real-time and reliabil- ity requirements. In this paper, we present an architec- ture that allows autonomous mobile systems to schedule shared resources in real-time using their own wireless distributed infrastructure. In our architecture, there is a clear separation between the application-specific sched- uling part that is modeled as a function of the global state and the communication part that is used to provide the global state. By isolating the more error-prone communi- cation part within a communication hardcore, the reli- ability of the overall system is increased and the locally executed scheduling function can be designed with pri- mary focus on the application-specific real-time require- ments.Keywords
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