Abstract
The Model-based development of robotics applications relies on the definition of models of the controls that abstract the computation and communication platform under the synchronous assumption. Computation, scheduling and communication delays can affect the performance of the controls in way that are possibly significant, and an early evaluation allows to select the best control compensation or the best HW/SW implementation platform. In this paper we show a case study of the application of the open T-Res framework, an environment for the co-simulation of controls and real-time scheduling, on a quadcopter model example, highlighting the possible tradeoffs in the selection of the scheduling strategy and priority assignment.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
BRICS - Best practice in robotics, http://www.best-of-robotics.org/
RT-Sim – Real-Time system SIMulator, http://rtsim.sssup.it/
T-Res – Time and Resource Simulator, http://retis.sssup.it/tres/
Architecture Analysis & Design Language (AADL), http://standards.sae.org/as5506b/
Alonso, D., Vicente-Chicote, C., Ortiz, F., Pastor, J., Alvarez, B.: V3cmm: a 3-view component meta-model for model-driven robotic software development. Journal of Software Engineering for Robotics 1(1), 3–17 (2010)
Bruyninckx, H., Klotzbücher, M., Hochgeschwender, N., Kraetzschmar, G., Gherardi, L., Brugali, D.: The BRICS Component Model: A Model-based Development Paradigm for Complex Robotics Software Systems. In: Proc. of the 28th Annual ACM Symposium on Applied Computing, pp. 1758–1764 (2013)
Bruyninckx, H., Soetens, P., Koninckx, B.: The Real-Time Motion Control Core of the Orocos Project. In: IEEE International Conference on Robotics and Automation, pp. 2766–2771 (2003)
Buttle, D.: Real-time in the prime-time. Keynote presentation. In: Euromicro ECRTS Conference (July 2012)
Cervin, A., Henriksson, D., Lincoln, B., Eker, J., Årzén, K.E.: How does control timing affect performance? Analysis and Simulation of Timing using Jitterbug and TrueTime 23(3), 16–30 (2003)
Corke, P.I.: Robotics, Vision & Control: Fundamental Algorithms in Matlab. Springer (2011)
Dhouib, S., Kchir, S., Stinckwich, S., Ziadi, T., Ziane, M.: RobotML, a domain-specific language to design, simulate and deploy robotic applications. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds.) SIMPAR 2012. LNCS, vol. 7628, pp. 149–160. Springer, Heidelberg (2012)
dSPACE GmbH: SystemDesk, http://www.dspace.com/en/pub/home/products/sw/system_architecture_software/systemdesk.cfm
Hochgeschwender, N., Gherardi, L., Shakhirmardanov, A., Kraetzschmar, G., Brugali, D., Bruyninckx, H.: A Model-Based Approach to Software Deployment in Robotics. In: 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3907–3914 (November 2013)
Nickl, M., Jörg, S., Hirzinger, G.: The virtual path: The domain model for the design of the MIRO surgical robotic system. In: 9th International IFAC Symposium on Robot Control, IFAC, Gifu, Japan, pp. 97–103 (2009)
Object Management Group: Model Driven Architecture (MDA), http://www.omg.org/mda/specs.htm
Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T.B., Leibs, J., Wheeler, R., Ng, A.Y.: ROS: an open-source Robot Operating System. In: ICRA Workshop on Open Source Software (2009)
Schlegel, C., Steck, A., Brugali, D., Knoll, A.: Design Abstraction and Processes in Robotics: From Code-Driven to Model-Driven Engineering. In: Ando, N., Balakirsky, S., Hemker, T., Reggiani, M., von Stryk, O. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 324–335. Springer, Heidelberg (2010)
Singhoff, F., Legrand, J., Nana, L., Marcé, L.: Cheddar: a flexible real time scheduling framework. In: Proceedings of the ACM International Conference on Ada (SIGAda), pp. 1–8 (2004)
Wätzoldt, S., Neumann, S., Benke, F., Giese, H.: Integrated software development for embedded robotic systems. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds.) SIMPAR 2012. LNCS, vol. 7628, pp. 335–348. Springer, Heidelberg (2012)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2014 Springer International Publishing Switzerland
About this paper
Cite this paper
Morelli, M., Di Natale, M. (2014). Control and Scheduling Co-design for a Simulated Quadcopter Robot: A Model-Driven Approach. In: Brugali, D., Broenink, J.F., Kroeger, T., MacDonald, B.A. (eds) Simulation, Modeling, and Programming for Autonomous Robots. SIMPAR 2014. Lecture Notes in Computer Science(), vol 8810. Springer, Cham. https://doi.org/10.1007/978-3-319-11900-7_5
Download citation
DOI: https://doi.org/10.1007/978-3-319-11900-7_5
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-11899-4
Online ISBN: 978-3-319-11900-7
eBook Packages: Computer ScienceComputer Science (R0)