CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control - Robotics Institute Carnegie Mellon University

CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control

David B. Stewart, Donald E. Schmitz, and Pradeep Khosla
Conference Paper, Proceedings of IEEE International Symposium on Intelligent Control (ISIC '89), pp. 265 - 271, September, 1989

Abstract

The CHIMERA II multiprocessing environment has been developed for use in a wide variety of sensor-based robot systems. It provides the flexibility, performance, and Unix-compatible interface needed for fast development of a real-time control code. The features of CHIMERA II include support for multiple general purpose CPUs; support for multiple special purpose CPUs and I/O devices; a real time multitasking kernel; user definable and dynamically selectable real-time schedulers; transparent access to a host file system; generalized and efficient interprocess and interboard communication; remote process synchronization; standardized interrupt and exception handlers; Unix-like environment, which supports most standard C system and library calls; support for hierarchical and horizontal control architectures, such as NASREM; and a user interface which serves to download, monitor, and debug code on any processor board and serves as a terminal interface to the executing code.

BibTeX

@conference{Stewart-1989-15514,
author = {David B. Stewart and Donald E. Schmitz and Pradeep Khosla},
title = {CHIMERA II: A Real-Time Multiprocessing Environment For Sensor-Based Robot Control},
booktitle = {Proceedings of IEEE International Symposium on Intelligent Control (ISIC '89)},
year = {1989},
month = {September},
pages = {265 - 271},
}