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In this paper we presented a novel Delta time Scheduling algorithm for periodic Robot Software components. This algorithm dynamically assigns priority to components, by calculating delta time, which is, generally, difference between periods of components of Robot application. Therefore, performance of the time-critical and data-sensitive applications could be improved, especially, when they operate...
We provide an overall description of our large-scale project on a robot software, called Open Platform for Robotic Services (OPRoS). Component-oriented design for robot software is employed to accommodate the open architecture of software. Basic structure and interfaces of the component are given and as real examples, several components for robotics applications are introduced. We also suggest a framework...
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