A Multithreaded Real-time Robot for Embedded Design Space Exploration
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 di erent 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 di erent scheduling approaches.
Summary
This thesis presents a reference hardware and multithreaded real-time software design for a line-following, obstacle-avoiding maze-solving robot and an accompanying benchmark suite for scheduling experiments. Readers will learn how different scheduling approaches (static vs. dynamic, non-preemptive vs. preemptive) affect processor speed, memory cost, and real-time behavior on resource-constrained embedded platforms.
Key Takeaways
- Compare static vs. dynamic and preemptive vs. non-preemptive scheduling in terms of CPU speed and memory overhead.
- Implement a multithreaded real-time software architecture for line-following, obstacle-avoiding, and maze-solving robots on constrained hardware.
- Measure and analyze scheduling overhead, latency, and memory footprints using the provided benchmark suite and methodology.
- Apply the design-space exploration results to choose scheduling strategies for cost-sensitive embedded and IoT robotics applications.
Who Should Read This
Embedded firmware engineers, RTOS researchers, and graduate students with experience in microcontrollers and real-time systems who want to evaluate scheduling trade-offs and benchmark RTOS optimizations for cost-sensitive robotics or IoT devices.
Still RelevantAdvanced
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