Title:
Robust and Efficient Communication for Real-Time Multi-Process Robot Software
Robust and Efficient Communication for Real-Time Multi-Process Robot Software
Author(s)
Dantam, Neil
Stilman, Mike
Stilman, Mike
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Abstract
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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Date Issued
2012-11
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Text
Resource Subtype
Post-print
Proceedings
Proceedings