HIGHLIGHTS
SUMMARY
When working with the AMiRo platform (Herbrechtsmeier et_al, 2016; Herbrechtsmeier, 2017), which features a heterogeneous, distributed real-time architecture, the application development became disproportionally difficult as complexity increased. AMiRo features multiple microcontrollers (MCUs), which form a loosely coupled real-time system, but each of which is responsible for multiple tasks, such as power management, motor control, sensor fusion, wireless communication, and behavioral applications (Schöpping et_al, 2015; Schöpping et_al, 2018; Korthals et_al, 2019; Schöpping and Kenneweg, 2022a; cf. During the last decades, a great number of middlewares have been developed, with CORBA . . .
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