µRT: A lightweight real-time middleware with integrated validation of timing constraints

Frontiers in Robotics and AI

Robotics and AI

Ulrich Rückert¹  Svenja Kenneweg¹  Thomas Schöpping²  Marc Hesse³ 

[1] Cognitronics and Sensor Systems Group, Faculty of Technology, Bielefeld University, Bielefeld, Germany;[e-mail];null;

关键词: middleware;    real-time computing;    distributed computing;    embedded;    microcontroller;    publish–subscribe;    remote procedure call;    prevention through design;   

DOI  :  10.3389/frobt.2023.1081875

 received in 2022-10-27, accepted in 2023-01-30,  发布年份 2023

来源: Frontiers

【 摘 要 】

Middlewares are standard tools for modern software development in many areas, especially in robotics. Although such have become common for high-level applications, there is little support for real-time systems and low-level control. Therefore, µRT provides a lightweight solution for resource-constrained embedded systems, such as microcontrollers. It features publish–subscribe communication and remote procedure calls (RPCs) and can validate timing constraints at runtime. In contrast to other middlewares, µRT does not rely on specific transports for communication but can be used with any technology. Empirical results prove the small memory footprint, consistent temporal behavior, and predominantly linear scaling. The usability of µRT was found to be competitive with state-of-the-art solutions by means of a study.

【 授权许可】

Unknown   
Copyright © 2023 Schöpping, Kenneweg, Hesse and Rückert.

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