A modular approach to real-time sensorial fusion systems

In this paper, we present a modular architecture for embedded sensorial-fusion systems. Each sensor is a task of a real-time operating system, whose core is a Deadline Monotonie scheduler. The scheduler decides if the sensor set is admissible or not, according to user-specified deadlines. Additionally, it monitors sensor behavior to check if the user model was correct and to characterize deadlines precisely (to be considered in future sensor changes/additions). We present a real development based on our concept: a low-cost platform that combines the contributions of an hyperspectrometer and a series of positioning sensors, which track the movements of the carrier vehicle. © Springer-Verlag 2004.