Analysis of Preemptive Periodic Real-Time Systems Using the (Max,PLus) Algebra With Applications in Robotics

François Baccelli 1 Bruno Gaujal 2 Daniel Simon 3
1 TREC - Theory of networks and communications
DI-ENS - Département d'informatique de l'École normale supérieure, Inria Paris-Rocquencourt
2 TRIO - Real time and interoperability
INRIA Lorraine, LORIA - Laboratoire Lorrain de Recherche en Informatique et ses Applications
3 BIP - Biped Robot
Inria Grenoble - Rhône-Alpes
Abstract : In this paper we present the model of a system of periodic real-time tasks with fixed priorities, preemption and synchronization, performed by a robot controller, using Marked Graphs. Then, with the help of the (max,plus) algebra, we derive simple tests to check real time constraints on those tasks such as response times and the respect of deadlines. This method takes into account precedence and synchronisation constraints and is not limited to a particular scheduling policy. || Dans cet article nous présentons le modèle graphe d'événement d'un système de tâches périodiques temps-réel avec des priorités fixes, de la préemption et des synchronisations, exécutées par un controleur robot. Ensuite, en utilisant l'algèbre (max,plus)
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Submitted on : Tuesday, September 26, 2006 - 2:52:46 PM
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François Baccelli, Bruno Gaujal, Daniel Simon. Analysis of Preemptive Periodic Real-Time Systems Using the (Max,PLus) Algebra With Applications in Robotics. IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers, 2002, 10 (3), pp.268-380. ⟨inria-00100900⟩

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