Enabling Real-Time Processing for ROS2 Embedded Systems

Medeiros, Lucas da Silva; Julio, Ricardo Emerson; Almeida, Rodrigo Maximiano Antunes de; Bastos, Guilherme Sousa

doi:10.1007/978-3-319-91590-6_14

Cited by 3 publications

(3 citation statements)

References 6 publications

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“…This feature renders their technique adaptable and transferable across various iterations of these systems and tools. Likewise, da Silva Medeiros, Julio, de Almeida, and Bastos [30] proposes a model that integrates Jason with ROS within an embedded system. It also introduces a novel structural design that enables direct communication between ROS and the agent.…”

Section: Agent Programming Languages Extensionsmentioning

confidence: 99%

An Analysis of Multi Agent Systems Agent Based Programming

Кhusein

2023

JCNS

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The effectiveness of agent-based modeling as a simulation modeling methodology has resulted in its application in diverse settings, including the resolution of pragmatic business challenges, in recent times. The domain of symbolic artificial intelligence, which investigates intelligent and self-governing entities, is preoccupied with the mechanisms by which these entities arrive at determinations regarding their conduct in reaction to, or in expectation of, stimuli from the external environment. The scope of the methods employed encompasses a diverse array of techniques, spanning from negotiations to agent simulations, as well as multi-agent argumentation and planning. The present article scrutinizes the utilization of agent-based computing in multi-agent systems and provides an all-encompassing analysis of the relevant literature. This study delves into the examination of both traditional and contemporary agent programming languages, including their respective extensions, comparative analyses, and instances of their application in published literature.

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Section: Agent Programming Languages Extensionsmentioning

confidence: 99%

An Analysis of Multi Agent Systems Agent Based Programming

Кhusein

2023

JCNS

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“…Finally, from an embedded software architecture design perspective, the system should be ported in ROS_2. By migrating to ROS_2, the system can benefit in terms of higher performance data processing for every designed node [43,44]. Given that the system is designed as core component for modern UAVs, accurate synchronization is also required.…”

Section: Future Workmentioning

confidence: 99%

A ROS Multi-Tier UAV Localization Module Based on GNSS, Inertial and Visual-Depth Data

Antonopoulos

Lagoudakis

Partsinevelos

2022

Drones

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Uncrewed aerial vehicles (UAVs) are continuously gaining popularity in a wide spectrum of applications, while their positioning and navigation most often relies on Global Navigation Satellite Systems (GNSS). However, numerous conditions and practices require UAV operation in GNSS-denied environments, including confined spaces, urban canyons, vegetated areas and indoor places. For the purposes of this study, an integrated UAV navigation system was designed and implemented which utilizes GNSS, visual, depth and inertial data to provide real-time localization. The implementation is built as a package for the Robotic Operation System (ROS) environment to allow ease of integration in various systems. The system can be autonomously adjusted to the flight environment, providing spatial awareness to the aircraft. This system expands the functionality of UAVs, as it enables navigation even in GNSS-denied environments. This integrated positional system provides the means to support fully autonomous navigation under mixed environments, or malfunctioning conditions. Experiments show the capability of the system to provide adequate results in open, confined and mixed spaces.

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“…The research topics on embedded ROS are discussed in [12]. Medeiros et al [13] proposed FreeRTPS as a light-weight implementation of Real-Time Publish Subscribe (RTPS) [14] protocol to run ROS2 applications on FreeRTOS [15]. However, ROS2 Quality of Services (QoS) are ignored in their implementation, and their approach is limited to FreeRTOS as the underlying OS.…”

Section: Related Workmentioning

confidence: 99%

CompROS: A composable ROS2 based architecture for real-time embedded robotic development

Dehnavi

Koedam

Nelson

et al. 2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Robot Operating System (ROS) is a de-facto standard robot middleware in many academic and industrial use cases. However, utilizing ROS/ROS2 in safety-critical embedded applications with real-time requirement is challenging because of C1) Non-real-time underlying hardware, C2) No control on the host OS scheduler, C3) Unpredictable dynamic memory allocation, C4) High resource requirement, and C5) Unpredictable execution model for ROS nodes. In this paper, we address these limiting factors by proposing a hardwaresoftware architecture -CompROS-for ROS2 based robotic development in a Multi-Processor System on Chip (MPSoC) platform that. The proposed hardware architecture consists of a Hard Real-Time (HRT) RISC-V based subsystem implemented in the Programmable Logic (PL) part of the MPSoC platform, a Soft Real-Time (SRT) ARM-based subsystem in the Processing System (PS) part of the MPSoC platform, and a Non-Real-Time (NRT) PC. While the proposed hardware architecture along with a partitioning layer overcomes the first two limiting factors, the rest are managed by the proposed multi-layer software architecture. We make a bare-metal implementation of XRCE-DDS standard for PL-PS communication, while peerto-peer PL-PL communication is done through a proposed realtime publish-subscribe approach. The reliable communication for PS-PLL communication is done through utilizing C-HEAP protocol. Further, we integrate ROS2 software layers on top of the proposed hardware and software layers. Finally, with respect to C5, we present a real-time execution model of ROS2 nodes by a mapping of ROS2 entities to CompROS entities, which is validated through experimental results. We run ROS2 middleware with an executable size of less than 200 KB on an MPSoC platform.

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Enabling Real-Time Processing for ROS2 Embedded Systems

Cited by 3 publications

References 6 publications

An Analysis of Multi Agent Systems Agent Based Programming

An Analysis of Multi Agent Systems Agent Based Programming

A ROS Multi-Tier UAV Localization Module Based on GNSS, Inertial and Visual-Depth Data

CompROS: A composable ROS2 based architecture for real-time embedded robotic development

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