Mixed-criticality communication scheme for networked mobile robots

We present an adaptive mixed-criticality based algorithm for weight-based task scheduling and communication resource allocation in the context of a Cyber-Physical System (CPS). The weight-based algorithm is motivated by the continuous computation of the task’s criticality and updates the weight of the CPS subsystem to be used in the task scheduler and the cost function of the optimal resource allocation problem. To demonstrate the algorithm performance, we consider a set of robots driving on a grid and performing a set of tasks with a different mixed-criticality profile, controlled and connected via a wireless channel with limited communication resources.