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Dynamic voltage scaling (DVS) algorithms save energy by scaling down the processor frequency when the processor is not fully loaded. Many algorithms have been proposed for periodic and aperiodic task models but none support the canonical sporadic task model. A DVS algorithm, called DVSST, is presented that can be used with sporadic tasks in conjunction with(More)
Introduction: The search for signs of past or ex-tant life on Mars is a high priority for future Mars exploration [e.g., 1]. This search will likely be undertaken with a variety of landed and orbital missions. The Canadian Space Agency (CSA), through its Analogue Missions program, supported an analogue mission designed to simulate a Mars micro-rover mission(More)
We present an autonomous, mobile, robotics application that requires dynamic adjustments of task execution rates to meet the demands of an unpredictable environment. The Robotic Safety Marker (RSM) system consists of one lead robot, the foreman, and a group of guided robots, called robotic safety markers (a.k.a., barrels). An extensive analysis is conducted(More)
Introduction: The search for signs of past or ex-tant life on Mars is a high priority for future Mars exploration [e.g., 1]. This search will likely be undertaken with a variety of landed and orbital missions. The Canadian Space Agency (CSA), through its Analogue Missions program, is supporting a micro-rover-based analogue mission designed to simulate a(More)
Introduction: The Mars Methane Analogue Mission , funded by the Canadian Space Agency through its Analogue Missions program, seeks to simulate as closely as possible a Mars micro-rover mission whose goal would be to detect, analyse, and determine the source of methane emissions. In order to achieve this goal, a Mars analogue site satisfying strict criteria(More)
The Canadian Space Agency (CSA), through its Analogue Missions program, supported a microrover-based analogue mission designed to simulate a Mars rover mission geared toward identifying and characterizing methane emissions on Mars. The analogue mission included two, progressively more complex, deployments in open-pit asbestos mines where methane can be(More)
Mobile robotic systems must sense constraints imposed by a dynamically changing environment and predictably react to those changes in real-time. Complexity arises in mobile robotic systems because the computing platform travels through the environment with which the system is interacting. These systems have spatio-temporal requirements in the sense that(More)
This paper presents a method for determining the feasible processing window for a leader robot that controls a group of follower robots. A processing window is defined as the time interval from the instant the platform starts collecting data to the moment the robot leader finishes planning and communicates with follower robots. The method determines the(More)
We present an autonomous, mobile, robotics application that requires dynamic adjustments of task execution rates to meet the demands of an unpredictable environment. The Robotic Safety Marker (RSM) system consists of one lead robot, the foreman, and a group of guided robots, called robotic safety markers (a.k.a., barrels). The application requires adjusting(More)
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