Hard real-time scheduling of distance-constrained sensor tasks within a monitoring system for mobile robot guidance
Claudio Laloni, Ralf Gutsche, Friedrich M. Wahl · 2002
This paper describes a new scheduling strategy, which can be used to schedule distance-constrained non-preemptive hard real-time tasks. Besides the ability to guarantee the satisfaction of all hard time requirements, the scheduler simultaneously enables a dynamical, e.g. priority driven, distribution of free resources. The authors motivate the proposed new scheduling strategy on the basis of a monitoring and navigation system for mobile vehicle guidance in industrial environments. This system, called MONAMOVE, is currently under development in the authors' lab. However, this application serves only as an example; similar scheduling requirements can be found in many real-time applications, where a variable number of tasks with distance-constraints share common resources and where a distribution of processing resources, not used to satisfy the hard timing requirements, is desired.