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Traffic control of vehicles on pre-planned paths may be based on critical sections where vehicles have to control their velocity mutually in order to avoid collisions. By analysing the geometry of critical sections carefully deadlock situations can be recognised and situations where vehicles may share a critical area under certain restrictions to speed-up(More)
III Abstract Robot soccer is a standard problem where new technologies can be integrated and examined. Example technologies are image processing, control theory, artificial intelligence, multi-agent systems, motion planning and embedded systems. One of the soccer initiatives is the Federation of International Robot-soccer Association (FIRA). A team has been(More)
For real-time applications in a distributed system a common notion of time is indispensable. Clocks are used for time measurement, determination of causality, process synchronization and generating unique identjfications. All this is only possible if there is a time reference of specified accuracy. Since the local clocks in a distributed system tend to drvt(More)
In this paper a data sharing framework for multi-threaded, distributed control programs is described that is realized in C++ by means of only a few, powerful classes and templates. Fast data exchange of entire data structures is supported using sockets as communication medium. Access methods are provided that preserve data consistency and synchronize the(More)
This article describes an operating environment for control systems. This environment contains the basic layers of a distributed operating system. The design of this operating environment is based on the requirements demanded by controllers which can be found in complex control systems. Due to the nature of real-time control systems, special attention has(More)
— This paper describes a method to correct the effect of collisions in the state estimator of the MI20 robotsoccer system. The existing state estimator tracks all robots on the field by predicting new states and matching them with data from the vision system to obtain new positions and velocities of all the objects on the field. In general this method works(More)
Physiological and biological experiments often require the imposition of repeated influences on an organ or organic system. Then the experimental protocol requires many repetitive functions with adjustable interval times and magnitudes, which are prepared or dictated by experimental results. To control such an experimental set-up interactively with a small(More)
A general multi-tasking control system has been developed for real-time signal processing. This control system, written in the language PASCAL, enables tasks (expressed as PASCAL procedures) to be performed as separate, concurrent processes, with adjustable priority levels. Modifications of this system such as the addition of new processes and a change of(More)
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