Please use this identifier to cite or link to this item: http://hdl.handle.net/10397/9149
DC FieldValueLanguage
dc.contributorDepartment of Computing-
dc.creatorWei, H-
dc.creatorShao, Z-
dc.creatorHuang, Z-
dc.creatorChen, R-
dc.creatorGuan, Y-
dc.creatorTan, J-
dc.creatorShao, Z-
dc.date.accessioned2015-10-13T08:26:52Z-
dc.date.available2015-10-13T08:26:52Z-
dc.identifier.issn0167-739X-
dc.identifier.urihttp://hdl.handle.net/10397/9149-
dc.language.isoenen_US
dc.publisherElsevieren_US
dc.subjectMulti-core processorsen_US
dc.subjectReal-time operating systemsen_US
dc.subjectRobot operating systemsen_US
dc.titleRT-ROS: A real-time ROS architecture on multi-core processorsen_US
dc.typeJournal/Magazine Articleen_US
dc.identifier.doi10.1016/j.future.2015.05.008-
dcterms.abstractROS, an open-source robot operating system, is widely used and rapidly developed in the robotics community. However, running on Linux, ROS does not provide real-time guarantees, while real-time tasks are required in many robot applications such as robot motion control. This paper for the first time presents a real-time ROS architecture called RT-RTOS on multi-core processors. RT-ROS provides an integrated real-time/non-real-time task execution environment so real-time and non-real-time ROS nodes can be separately run on a real-time OS and Linux, respectively, with different processor cores. In such a way, real-time tasks can be supported by real-time ROS nodes on a real-time OS, while non-real-time ROS nodes on Linux can provide other functions of ROS. Furthermore, high performance is achieved by executing real-time ROS nodes and non-real-time ROS nodes on different processor cores. We have implemented RT-ROS on a dual-core processor and conducted various experiments with real robot applications. The experimental results show that RT-ROS can effectively provide real-time support for the ROS platform with high performance by exploring the multi-core architecture.-
dcterms.bibliographicCitationFuture generation computer systems, 2015-
dcterms.isPartOfFuture generation computer systems-
dcterms.issued2015-
dc.identifier.scopus2-s2.0-84931039497-
dc.identifier.eissn1872-7115-
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