OpenSwarm: An event-driven embedded operating system for miniature robots

Trenkwalder, Stefan M.; Lopes, Yuri Kaszubowski; Kolling, Andreas; Christensen, Anders Lyhne; Prodan, Radu; Groß, Roderich

doi:10.1109/iros.2016.7759660

Cited by 9 publications

(6 citation statements)

References 23 publications

(27 reference statements)

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“…SwarmCom has been implemented on e-pucks running the open-source OpenSwarm operating system (Trenkwalder et al 2016). It uses a time-multiplexed on-board ADC to sample the voltages of the eight detectors, where bit detection is performed for every sample.…”

Section: Methodsmentioning

confidence: 99%

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

et al. 2019

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Swarm robotics investigates groups of relatively simple robots that use decentralized control to achieve a common goal. While the robots of many swarm systems communicate via optical links, the underlying channels and their impact on swarm performance are poorly understood. This paper models the optical channel of a widely used robotic platform, the e-puck. It proposes SwarmCom, a mobile ad-hoc network for mobile robots. SwarmCom has a detector that, with the help of the channel model, was designed to adapt to the environment and nearby robots. Experiments with groups of up to 30 physical e-pucks show that (i) SwarmCom outperforms the state-of-the-art infra-red communication software-libIrcom-in range (up to 3 times further), bit error rate (between 50 and 63% lower), or throughput (up to 8 times higher) and that (ii) the maximum number of communication channels per robot is relatively low, which limits the load per robot even for high-density swarms. Using channel coding, the bit error rate can be further reduced at the expense of throughput. SwarmCom could have profound implications for swarm robotics, contributing to system understanding and reproducibility, while paving the way for novel applications. Keywords Swarm robotics • MANET • Infra-red communication • Channel model • e-puck • libIrcom S.M. Trenkwalder is a recipient of a DOC Fellowship of the Austrian Academy of Sciences. This is one of the several papers published in Autonomous Robots comprising Special Issue on Robot Communication Challenges: Real-World Problems, Systems, and Methods.

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Section: Methodsmentioning

confidence: 99%

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

et al. 2019

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“…The other hybrid approach, exemplified by TinyMOS [18], TOSThreads [19], SenSpire OS [20], Event-Bus [21], and OpenSwarm [22], combines event-driven and preemptive multithreaded systems to provide event-driven and multithreaded programming models.…”

Section: Related Workmentioning

confidence: 99%

StateOS: A Memory-Efficient Hybrid Operating System for IoT Devices

Tan¹,

Hakala²

2023

IEEE Internet Things J.

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The increasing significance of operating systems (OSs) in the development of the internet of things (IoT) has emerged in the last decade. An event-driven OS is memory efficient and suitable for resource-constrained IoT devices and wireless sensors, although the program's control flow, which is determined by events, is not always obvious. A multithreaded OS with sequential control flow is often considered clearer. However, this approach is memory-consuming. A hybrid OS seeks to combine the strengths of the event-driven approach with multithreaded approach. An eventdriven cooperative threaded OS represents a hybrid approach that supports concurrency by explicitly yielding control to another thread. Although this approach is memory efficient, as cooperative threads are not preemptive, it may not provide sufficient real-time performance.This article proposes a memory-efficient hybrid OS, called StateOS, for resource-constrained IoT devices. It is an event-driven cooperative threaded OS with partial real-time performance. StateOS implements a hybrid task scheduler that combines two cooperative threaded subsystems as kernel processes on a prioritybased preemptive scheduler. This approach provides adequate real-time performance for IoT devices at a low memory cost.Index Terms-cooperative programming, internet of things, IoT OS, hybrid operating system, wireless sensor network operating system, WSN OS I. INTRODUCTIONInternet of things (IoT) research has been very active over the past decade. This technology is expected to change people's daily lives by becoming part of the surrounding ambient objects [1]. In 2020, the number of IoT connections exceeded that of non-IoT connections for the first time by 12 billion [2].Most of the deployed IoT devices are based on wireless sensors. These devices share similar restrictions as the nodes of wireless sensor networks (WSN), such as restricted resources, distant deployment, unreliable network connections, and dynamic network topology. Therefore, existing WSN operating systems (OSs), such as TinyOS [3] and Contiki [4], are also utilized in IoT devices.The typical OS for resource-constrained IoT or WSN devices supports either an event-driven or a thread-based programming model. In an event-driven model, programs are collections of event handlers, and the execution of an event handler is triggered by events. This approach is well-suited for data-centric IoT applications. Event-driven OSs are memory efficient and,

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“…A hybrid OS, such as OpenSwarm [28] or SenSpire OS [29], combines the approaches of multithreading and eventdriven programming models and therefore offers flexibility in expressing and customizing different scheduling policies. The previously proposed hybrid programming models are designed for specific application scenarios, and they face problems such as inflexible scheduling strategies and poor concurrent performance.…”

Section: A Hybrid Os Modelsmentioning

confidence: 99%

Formal Verification of a Hybrid IoT Operating System Model

2021

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The Internet of Things (IoT) is becoming an increasingly common paradigm. As IoT usage scenarios have increased, many challenges in IoT operating systems' safety and adaptability have remained. According to the programming model, IoT operating systems can be categorized into three types: multithreading, event-driven, and hybrid. Different operating system models are applied in different scenarios depending on the real-time requirements or resource richness. The safety of IoT operating systems is critical; hence, formal verification is an important method of detecting potential vulnerabilities and providing safety guarantees. This paper proposes a hybrid model for an IoT operating system and employs the Event-B method for modeling and verification. We rewrite the requirements and divide the Event-Bus hybrid operating system model into eight levels for refinement. The safety and liveness properties of Event-Bus are guaranteed by generating and proving the proof obligations at each model level. A large proportion of the proof obligations (91%) are automatically proven on the Rodin platform to simplify the development process.

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OpenSwarm: An event-driven embedded operating system for miniature robots

Cited by 9 publications

References 23 publications

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

SwarmCom: an infra-red-based mobile ad-hoc network for severely constrained robots

StateOS: A Memory-Efficient Hybrid Operating System for IoT Devices

Formal Verification of a Hybrid IoT Operating System Model

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