Predictable Multi-Core Implementation of Multi-Rate Sensor Fusion for High-Precision Positioning Systems

Jugade, Chaitanya; Mohamed, Sajid; Goswami, Dip; Nelson, Andrew; Van Der Veen, Gijs; Goossens, Kees

doi:10.23919/acc60939.2024.10644161

2024 American Control Conference (ACC) 2024

DOI: 10.23919/acc60939.2024.10644161

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Predictable Multi-Core Implementation of Multi-Rate Sensor Fusion for High-Precision Positioning Systems

Chaitanya Jugade,

Sajid Mohamed,

Dip Goswami

et al.

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Enhanced Harmonic Partitioned Scheduling of Periodic Real-Time Tasks Based on Slack Analysis

Ren,

Zhang,

et al. 2024

Sensors

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The adoption of multiprocessor platforms is growing commonplace in Internet of Things (IoT) applications to handle large volumes of sensor data while maintaining real-time performance at a reasonable cost and with low power consumption. Partitioned scheduling is a competitive approach to ensure the temporal constraints of real-time sensor data processing tasks on multiprocessor platforms. However, the problem of partitioning real-time sensor data processing tasks to individual processors is strongly NP-hard, making it crucial to develop efficient partitioning heuristics to achieve high real-time performance. This paper presents an enhanced harmonic partitioned multiprocessor scheduling method for periodic real-time sensor data processing tasks to improve system utilization over the state of the art. Specifically, we introduce a general harmonic index to effectively quantify the harmonicity of a periodic real-time task set. This index is derived by analyzing the variance between the worst-case slack time and the best-case slack time for the lowest-priority task in the task set. Leveraging this harmonic index, we propose two efficient partitioned scheduling methods to optimize the system utilization via strategically allocating the workload among processors by leveraging the task harmonic relationship. Experiments with randomly synthesized task sets demonstrate that our methods significantly surpass existing approaches in terms of schedulability.

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Enhanced Harmonic Partitioned Scheduling of Periodic Real-Time Tasks Based on Slack Analysis

Ren,

Zhang,

et al. 2024

Sensors

View full text Add to dashboard Cite

show abstract

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Predictable Multi-Core Implementation of Multi-Rate Sensor Fusion for High-Precision Positioning Systems

Cited by 1 publication

References 18 publications

Enhanced Harmonic Partitioned Scheduling of Periodic Real-Time Tasks Based on Slack Analysis

Enhanced Harmonic Partitioned Scheduling of Periodic Real-Time Tasks Based on Slack Analysis

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