XLUNA - DEMONSTRATOR ON ESA MARS ROVER

摘要

There is a significant gap between the services offeredrnby existing space qualified Real-Time OperatingrnSystems (RTOS) and those required by the mostrndemanding future space applications. New requirementsrnfor autonomy, terrain mapping and navigation,rnSimultaneous Location and Mapping (SLAM),rnimprovement of the throughput of science tasks, allrndemand high level services such as file systems orrnPOSIX compliant interfaces.rnxLuna is an operating system that aims fulfilling thesernnew requirements. Besides providing the typicalrnservices that of an RTOS (tasks and interruptsrnmanagement, timers, message queues, etc), it alsornincludes most of the features available in modernrngeneral-purpose operating systems, such as Linux.rnThis paper describes a case study that proposes torndemonstrate the usage of xLuna on board a roverrncurrently in use for the development of algorithms inrnpreparation of a mission to Mars.