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

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.