Abstract
Most battery operated robots have to work under timing constraints to exhibit a desired performance and must adopt suitable control strategies to minimize energy consumption to prolong their lifetime. Unfortunately, energy saving strategies tend to reduce resource availability and, hence, degrade robot performance. As a consequence, an integrated approach is needed for balancing energy consumption with real-time requirements. In this paper, we present an integrated approach to energy management in real-time robot systems to prolong battery lifetime and still guarantee timing constraints. The method is applied to a six-legged robot controlled by a PC104 microprocessor and equipped with a set of sensors for the interaction with the environment. Specific experiments are reported to evaluate the effectiveness of the proposed approach.
This work has been partially supported by the European Union, under contract IST-2001-34820, and by the Italian Ministry of University Research, (MIUR) under contract 2003094275.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Abeni, L., Buttazzo, G.C.: Integrating Multimedia Applications in Hard Real-Time Systems. In: Proc. of the IEEE Real-Time Systems Symposium (1998)
Aydin, H., Melhem, R., Mossé, D., Mejia Alvarez, P.: Determining Optimal Processor Speeds for Periodic Real-Time Tasks with Different Power Characteristics. In: Proceedings of the Euromicro Conference on Real-Time Systems (2001)
Aydin, H., Melhem, R., Mossé, D., Mejia Alvarez, P.: Dynamic and Aggressive Scheduling Techniques for Power-Aware Real-Time Systems. In: Proceedings of the IEEE Real-Time Systems Symposium (2001)
Baker, T.P.: Stack-Based Scheduling of Real-Time Processes. The Journal of Real-Time Systems 3(1), 76–100 (1991)
Buttazzo, G.C., Lipari, G., Abeni, L.: Elastic Task Model for Adaptive Rate Control. In: Proc. of the IEEE Real-Time Systems Symposium, pp. 286–295 (1998)
Buttazzo, G.C., Lipari, G., Caccamo, M., Abeni, L.: Elastic Scheduling for Flexible Workload Management. IEEE Transactions on Computers 51(3), 289–302 (2002)
Buttazzo, G.C.: Scalable applications for energy-aware processors. In: Sangiovanni-Vincentelli, A.L., Sifakis, J. (eds.) EMSOFT 2002. LNCS, vol. 2491, pp. 153–165. Springer, Heidelberg (2002)
Chan, E., Govil, K., Wasserman, H.: Comparing Algorithms for Dynamic Speedsetting of a Low-Power CPU. In: Proceedings of the First ACM International Conference on Mobile Computing and Networking (1995)
Gai, P., Abeni, L., Giorgi, M., Buttazzo, G.C.: A New Kernel Approach for Modular Real-Time System Development. In: Proc. 13th IEEE Euromicro Conf. on Real-Time Systems (2001)
Graham, R.L.: Bounds on the Performance of Scheduling Algorithms. In: Computer and Job Scheduling Theory, pp. 165–227. John Wiley and Sons, Chichester (1976)
Liu, C.L., Layland, J.W.: Scheduling Algorithms for Multiprogramming in a Hard Real-Time Environment. Journal of the ACM 20(1), 40–61 (1973)
Melhem, R., AbouGhazaleh, N., Aydin, H., Mosse, D.: Power Management Points in Power-Aware Real-Time Systems. In: Graybill, R., Melhem, R. (eds.) Power Aware Computing, Plenum/Kluwer Publishers (2002)
Sha, L., Rajkumar, L.R., Lehoczky, J.P.: Priority Inheritance Protocols: An Approach to Real-Time Synchronization. IEEE Transactions on Computers 39(9) (1990)
Yao, F., Demers, A., Shenker, S.: A Scheduling Model for Reduced CPU Energy. In: IEEE Annual Foundations of Computer Science, pp. 374–382 (1995)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Buttazzo, G., Marinoni, M., Guidi, G. (2004). Energy-Aware Strategies in Real-Time Systems for Autonomous Robots. In: Aykanat, C., Dayar, T., Körpeoğlu, İ. (eds) Computer and Information Sciences - ISCIS 2004. ISCIS 2004. Lecture Notes in Computer Science, vol 3280. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30182-0_85
Download citation
DOI: https://doi.org/10.1007/978-3-540-30182-0_85
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23526-2
Online ISBN: 978-3-540-30182-0
eBook Packages: Springer Book Archive