Title:
Ach: IPC for Real-Time Robot Control
Ach: IPC for Real-Time Robot Control
Files
Author(s)
Dantam, Neil
Stilman, Mike
Stilman, Mike
Advisor(s)
Editor(s)
Collections
Supplementary to
Permanent Link
Abstract
We present a new Inter-Process Communication (IPC) mechanism and library. Ach is uniquely suited for coordinating perception, control drivers, and algorithms in real-time systems that sample data from physical processes. 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. Finally, the source code for Ach is available under an Open Source BSD-style license.
Sponsor
Date Issued
2011
Extent
Resource Type
Text
Resource Subtype
Technical Report