Analysis of Preemptive Periodic Real-Time Systems Using the (Max,PLus) Algebra With Applications in Robotics
Résumé
In this paper we present the model of a system of periodic real-time tasks with fixed priorities, preemption and synchronization, performed by a robot controller, using Marked Graphs. Then, with the help of the (max,plus) algebra, we derive simple tests to check real time constraints on those tasks such as response times and the respect of deadlines. This method takes into account precedence and synchronisation constraints and is not limited to a particular scheduling policy. || Dans cet article nous présentons le modèle graphe d'événement d'un système de tâches périodiques temps-réel avec des priorités fixes, de la préemption et des synchronisations, exécutées par un controleur robot. Ensuite, en utilisant l'algèbre (max,plus)