scholarly journals Performance analysis of real-time and general-purpose operating systems for path planning of the multi-robot systems

Seçkin Canbaz ◽  
Gökhan Erdemir

In general, modern operating systems can be divided into two essential parts, real-time operating systems (RTOS) and general-purpose operating systems (GPOS). The main difference between GPOS and RTOS is the system istime-critical or not. It means that; in GPOS, a high-priority thread cannot preempt a kernel call. But, in RTOS, a low-priority task is preempted by a high-priority task if necessary, even if it’s executing a kernel call. Most Linux distributions can be used as both GPOS and RTOS with kernel modifications. In this study, two Linux distributions, Ubuntu and Pardus, were analyzed and their performances were compared both as GPOS and RTOS for path planning of the multi-robot systems. Robot groups with different numbers of members were used to perform the path tracking tasks using both Ubuntu and Pardus as GPOS and RTOS. In this way, both the performance of two different Linux distributions in robotic applications were observed and compared in two forms, GPOS, and RTOS.

2021 ◽  
Vol 6 (3) ◽  
pp. 4337-4344
Yuxiao Chen ◽  
Ugo Rosolia ◽  
Aaron D. Ames

2021 ◽  
Vol 11 (4) ◽  
pp. 1448
Wenju Mao ◽  
Zhijie Liu ◽  
Heng Liu ◽  
Fuzeng Yang ◽  
Meirong Wang

Multi-robots have shown good application prospects in agricultural production. Studying the synergistic technologies of agricultural multi-robots can not only improve the efficiency of the overall robot system and meet the needs of precision farming but also solve the problems of decreasing effective labor supply and increasing labor costs in agriculture. Therefore, starting from the point of view of an agricultural multiple robot system architectures, this paper reviews the representative research results of five synergistic technologies of agricultural multi-robots in recent years, namely, environment perception, task allocation, path planning, formation control, and communication, and summarizes the technological progress and development characteristics of these five technologies. Finally, because of these development characteristics, it is shown that the trends and research focus for agricultural multi-robots are to optimize the existing technologies and apply them to a variety of agricultural multi-robots, such as building a hybrid architecture of multi-robot systems, SLAM (simultaneous localization and mapping), cooperation learning of robots, hybrid path planning and formation reconstruction. While synergistic technologies of agricultural multi-robots are extremely challenging in production, in combination with previous research results for real agricultural multi-robots and social development demand, we conclude that it is realistic to expect automated multi-robot systems in the future.

Sarvesh Pandey ◽  
Udai Shanker

The problem of priority inversion occurs when a high priority task is required to wait for completion of some other task with low priority as a result of conflict in accessing the shared system resource(s). This problem is discussed by many researchers covering a wide range of research areas. Some of the key research areas are real-time operating systems, real-time systems, real-time databases, and distributed real-time databases. Irrespective of the application area, however, the problem lies with the fact that priority inversion can only be controlled with no method available to eliminate it entirely. In this chapter, the priority inversion-related scheduling issues and research efforts in this direction are discussed. Different approaches and their effectiveness to resolve this problem are analytically compared. Finally, major research accomplishments to date have been summarized and several unanswered research questions have also been listed.

2020 ◽  
Vol 10 (10) ◽  
pp. 3633
Luis Pérez ◽  
Silvia Rodríguez-Jiménez ◽  
Nuria Rodríguez ◽  
Rubén Usamentiaga ◽  
Daniel F. García

Intelligent automation, including robotics, is one of the current trends in the manufacturing industry in the context of “Industry 4.0”, where cyber-physical systems control the production at automated or semi-automated factories. Robots are perfect substitutes for a skilled workforce for some repeatable, general, and strategically-important tasks. However, this transformation is not always feasible and immediate, since certain technologies do not provide the required degree of flexibility. The introduction of collaborative robots in the industry permits the combination of the advantages of manual and automated production. In some processes, it is necessary to incorporate robots from different manufacturers, thus the design of these multi-robot systems is crucial to guarantee the maximum quality and efficiency. In this context, this paper presents a novel methodology for process automation design, enhanced implementation, and real-time monitoring in operation based on creating a digital twin of the manufacturing process with an immersive virtual reality interface to be used as a virtual testbed before the physical implementation. Moreover, it can be efficiently used for operator training, real-time monitoring, and feasibility studies of future optimizations. It has been validated in a use case which provides a solution for an assembly manufacturing process.

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