Modelling computational requirements of mobile robotic systems using zones and processing windows

Ala' Qadi, Steve Goddard, Jiangyang Huang, Shane Farritor

Research output: Contribution to journalArticlepeer-review

1 Scopus citations


Mobile robotic systems must sense constraints imposed by a dynamically changing environment and predictably react to those changes in real-time. Complexity arises in mobile robotic systems because the computing platform travels through the environment with which the system is interacting. These systems have spatio-temporal requirements in the sense that correct behavior is defined in terms of both space and time. The focus of this paper is mobile robotic platforms that must sense their environment and avoid obstacles as they navigate from one point to another. We present a design and analysis methodology for these platforms that integrates spatio-temporal attributes with fixed priority real-time scheduling through the use of zone and processing window abstractions.

Original languageEnglish (US)
Pages (from-to)1-33
Number of pages33
JournalReal-Time Systems
Issue number1-3
StatePublished - Aug 2009


  • Applied real-time scheduling theory
  • Mobile robotic systems
  • Real-time systems
  • Robotic software architecture
  • Zone
  • Zone processing window

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Computer Networks and Communications
  • Control and Optimization
  • Electrical and Electronic Engineering


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