Robust and Efficient Communication for Real-Time Multi-Process Robot Software

被引：0

作者：

Dantam, Neil ^{[1
]}

Stilman, Mike ^{[1
]}

机构：

[1] Georgia Inst Technol, Intelligent Machines Ctr, Dept Interact Comp, Atlanta, GA 30332 USA

来源：

2012 12TH IEEE-RAS INTERNATIONAL CONFERENCE ON HUMANOID ROBOTS (HUMANOIDS) | 2012年

关键词：

D O I：

暂无

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We present a new Interprocess Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating drivers, controllers, and algorithms in complex robotic systems such as humanoid robots. Ach eliminates the Head-of-Line Blocking problem for applications that always require access to the newest message. Ach is efficient, robust, and formally verified. It has been tested and demonstrated on a variety of physical robotic systems, and we discuss the implementation on our humanoid robot Golem Krang. Finally, the source code for Ach is available under an Open Source permissive license.

引用

页码：316 / 322

页数：7

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