A New Behavior-based Microkernel for Mobile Robots

@inproceedings{Spenneberg2005ANB,
  title={A New Behavior-based Microkernel for Mobile Robots},
  author={Dirk Spenneberg and Martin Albrecht and Till Backhaus},
  year={2005}
}
This article describes a concept for programming behavior based robots which combines properties of real-time operat ing systems with behavior-based programming to solve problems of scalability and reactivity. This new concept featur es hard and soft periodic processes, preemptive reflexes, beha vior processes on different execution frequencies and a back ground process. 
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