Real-Time Polling Task: Design and Analysis

Usually, robotic systems must be designed as reactive systems because they must be able to react and adapt to their environment and also communicate with some other systems. However, the reactive behavior, because of its non-deterministic nature, is difficult to analyze and prevents designers to perform a proper real-time analysis which is usually needed for critical robotic systems. In this paper, we propose a deterministic task model to handle the reactive behavior as well as the necessary tools to analyze it and verify the respect of real-time constraints. An implementation of this model, which is used in a ROS2 patch, is also presented.