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OS

As robotic systems have become more sophisticated, the use of operating systems has become more of necessity. Custom solutions are becoming more cumbersome, while specialized operating systems are becoming more viable and robust.

Some systems such as ROS are content with running on top of a general purpose operating system such as Linux. Most systems, however, find benefits in running on OSes targeted to embedded or real-time applications.

Composite

Composite is a research microkernel operating system under development at GWU. I have been looking into applying it to robotics applications. The 64bit variant is my project which has been abandoned for the time being, as it would seem that my research may no long require it.

L4

L4 and the family which grew out of it. For now primarily concerned with seL4, which has the distinction of being the first formally verified operating system. It has not yet been applied to the field of robotics, but the guarantees provided by verification are desirable. Also to be examined is Fiasco, an L4 variant which has been applied to fault tolerance in embedded systems.

RTLinux

This is an overhaul of the Linux kernel which adds support for real-time threads. The real-time threads run with privileged status as the Linux kernel itself, and can interact with regular Linux applications. This leaves us with a partitioned system which can run a large array available Linux software simultaneously with real-time components.

Other

A slew of OSes that are worth knowing about. Each is likely substantive enough for its own page if I only had the time to create them. Currently includes ASEBA, Contiki, EMERALDS, FreeRTOS, LynxOS, RTEMS, TinyOS, and VxWorks. Little more than stubs at this point

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Page last modified on May 29, 2014, at 01:11 PM