Robust and efficient communication for real-time multi-process robot software | Zendy

Neil T. Dantam | Zendy; Mike Stilman | Zendy

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Robust and efficient communication for real-time multi-process robot software

Author(s) -

Neil T. Dantam,

Mike Stilman

Publication year - 2012

Publication title -

smartech repository (georgia institute of technology)

Language(s) - English

Resource type - Conference proceedings

ISSN - 2164-0572

DOI - 10.1109/humanoids.2012.6651538

Subject(s) - humanoid robot , computer science , inter process communication , blocking (statistics) , mit license , robot , variety (cybernetics) , source code , process (computing) , distributed computing , license , software , open source , embedded system , code (set theory) , real time computing , artificial intelligence , computer network , operating system , programming language , set (abstract data type)

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.

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