A Multithreaded Real-time Robot for Embedded Design Space Exploration
By Yue Ma
This thesis introduces an autonomous robot platform for real-time scheduling exper-
imentation and benchmark suite to evaluate real-time optimizations and apply modern
task scheduling methods.
It makes two contributions. First, it presents a reference hardware and software design
for a line-following, obstacle-avoiding and maze-solving robot. This robot is based on a
small commercially-available product. The software is structured as a multithreaded real-
time system for use in evaluating scheduling approaches for cost-sensitive and resource-
constrained applications. Second, it provides a detailed design space exploration showing
the costs (processor speed and memory) of dierent scheduling approaches (static vs.
dynamic and non-preemptive vs. preemptive).
It also measures and analyzes each task's timing information and explores the mini-
mum microcontroller clock speed under dierent scheduling approaches.
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