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Robot Operating System (ROS) is a software component framework developed for robot applications. It provides a rich set of software libraries and tools to construct robot components, including implementation of many popular perception, planning, and control algorithms. The state of the art in ROS, however, does not fundamentally support priority and synchronization among tasks, so-called nodes in...
Parallel scheduling of task graphs has been an important research topic in the field of parallel processing, and it is well known to be a challenging NP-complete problem. Scheduling in data flow systems can be represented by a directed acyclic graph (DAG). In parallel task scheduling using DAG, managing the dependent tasks reduce overall execution time. However, the algorithm cannot be applied to...
In this paper a solution is presented, which extends the network of non-real-time-capable ROS nodes (Robot Operating System) by a modular network of configurable and real-time-capable blocks with control and path planning functionalities. By means of this solution, ROS can be coupled with real-time algorithms from the field of industrial path planning controls, such as spline interpolation (e.g. Akima,...
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