Task Scheduling in the Control Robotics Environment.

摘要

Scheduling problems involved in Control Robotics, a software approach to control engineering are studied. The capability of a multiprocessor system to handle tasks with real-time deadlines is investigated according to whether complete or partial a priori knowledge of the deadlines, computation times and frequencies of occurrence of individual tasks is available. A model of preemptive scheduling, the scheduling game is introduced to explore the mathematical relationships for different scheduling situations. A necessary and sufficient condition for scheduling tasks with simultaneous requests or deadlines is derived. Partial solutions and the difficulties involved in scheduling tasks with distributed requests are discussed. It is shown that in the absence of a priori knowledge about the distribution of the requests of the future tasks in time, no globally optimal algorithm is possible. (Author)