This paper presents the implementation of the Continuous Stream task model (CS) in the Linux Kernel. The CS model is a model of computation for real-time control tasks, whose primary goal is to obtain substantial resource savings without sacrificing the control performance. In this paper, we show the application of the CS model to a robotic application where a mobile robot is requested to follow a line on the ground. The analysis of the data collected from the real experiments confirms the consistency between theory and simulations and the experimental results, verifying the validity and effectiveness of the Continuous Stream approach in a real scenario.

Implementing the Continuous Stream Model for Real-Time Control in Linux / Villalba Frias, Bernardo Rabindranath; Abeni, Luca; Palopoli, Luigi; Fontanelli, Daniele. - STAMPA. - (2014), pp. 23-30. (Intervento presentato al convegno RTLWS tenutosi a Düsseldorf nel 13th October - 14th October 2014).

Implementing the Continuous Stream Model for Real-Time Control in Linux

Villalba Frias, Bernardo Rabindranath;Abeni, Luca;Palopoli, Luigi;Fontanelli, Daniele
2014-01-01

Abstract

This paper presents the implementation of the Continuous Stream task model (CS) in the Linux Kernel. The CS model is a model of computation for real-time control tasks, whose primary goal is to obtain substantial resource savings without sacrificing the control performance. In this paper, we show the application of the CS model to a robotic application where a mobile robot is requested to follow a line on the ground. The analysis of the data collected from the real experiments confirms the consistency between theory and simulations and the experimental results, verifying the validity and effectiveness of the Continuous Stream approach in a real scenario.
2014
Proceedings of the 16th Real Time Linux Workshop
Düsseldorf
Open Source Automation Development Lab (OSADL) eG
Villalba Frias, Bernardo Rabindranath; Abeni, Luca; Palopoli, Luigi; Fontanelli, Daniele
Implementing the Continuous Stream Model for Real-Time Control in Linux / Villalba Frias, Bernardo Rabindranath; Abeni, Luca; Palopoli, Luigi; Fontanelli, Daniele. - STAMPA. - (2014), pp. 23-30. (Intervento presentato al convegno RTLWS tenutosi a Düsseldorf nel 13th October - 14th October 2014).
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11572/169032
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