The 2010 IEEE/RSJ International Conference on Intelligent RObots and Systems, Taipei International Convention Center, Taipei, Taiwan, October 18-22, 2010

IROS 2010 Paper Abstract


Paper TuCT13.6

McKenzie, Andrew (The University of Alabama), Gay, Daniel (University of Alabama, Tuscaloosa), Nori, Rahul (University of Alabama), Davis, Trey (The University of Alabama), Anderson, Monica (The University of Alabama)

Comparing Temporally Aware Mobile Robot Controllers Built with Sun's Java Real-Time System, OROCOS's Real-Time Toolkit and Player

Scheduled for presentation during the Regular Sessions "Control Architectures and Programming I" (TuCT13), Tuesday, October 19, 2010, 15:00−15:20, 202B

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 18-22, 2010, Taipei International Convention Center, Taipei, Taiwan

This information is tentative and subject to change. Compiled on June 20, 2018

Keywords Control Architectures and Programming, Behaviour-Based Systems


Designing a robot controller that can optimally manage limited resources in a deterministic, real-time manner can be challenging. Behavior-based architectures, which split autonomy into levels, are very popular but neither have real- time features that enforce timing constraints nor support determinism. Even though real-time features are not included, it seems like a natural fit to make each level in the behavior- based architecture its own task or process. The only that thing that it lacks are the timing features. This has already been implemented using Suns Java Real-Time System. It has also been shown that timing constraints effect performance. This brings us to the question; why not use the more traditional language of C or C++ to implement this behavior-based real- time architecture? Are we not taught that Java is useful but slow compared to C and C++? If so why not use C++ and the features of Open Robot Control Software (OROCOS) to implement the architecture.

This paper answers the question of does it really matter what language is used in a behavior-based real-time architecture. We implemented the architecture using OROCOS/C++ running on UBUNTU. Then compared our implementation to two other implementations of the architecture: Java/Player on Fedora; and Suns Java Real-Time System (RTS) on Solaris. Results, from experiments on a robot, show that our OROCOS/C++ implementation performed similarly to the Java RTS imple- mentation. Both the OROCOS and Java RTS implementations performed better than the Player/Java implementation. This suggests that Java is in fact feasible for a behavior-based real- time robot architecture but it needs to be run using Java RTS not the regular version.



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