| Operating systems for
autonomous Agents: CubeOS
cubeos homepage |
| CubeOS is the realtime operating system
of the RoboCube. It's a multithreaded nanokernel with drivers for communication
and robotic sensors and actuators.
CubeOS is used in several projects of the AI Lab including the RoboGuard
and the RoboCup Player robots. |
Features:
-
Preemptive/cooperative multithreading
-
Thread create/suspend/resume/sleep/kill
-
IPC: Signals, Semaphores, Message queues
-
Data primitives: lists, buffers,...
-
Control primitives: Reactive control, PID control...
-
Sensor/Actuator abstraction
-
Drivers for I2C and SPI busses (Device primitives, nonblocking IO)
-
Driver for the M68332s TPU (Functions, Parameters, Interrupts)
-
Layered radio communication protocol
-
Realtime Clock
|
Here you can find the slides of a talk I gave about CubeOS in the
VUB AI-Lab friday seminar. |
|