Efficient Scheduling of Behavior-Processes on Different Time-Scales

In behavior-oriented robotics, the control of a system is distributed over various processes or behaviors running in virtual parallel. But the assignment of processing power to different processes is a non-trivial task. Existing approaches to this problem like rate-monotonic scheduling focus on the fulfillment of deadlines, i.e., upper time-bounds. For behavioral control, the periodicy of processes is also of interest. Here, a novel scheduling algorithm for behavioral processes at different time-scales is introduced, which ensures timeoptimal and periodically balanced execution.