树结构机器人控制固件的静态时序编排
Static Timing Orchestration for Tree-Structured Robot Control Firmware
- Shanghai Jiao Tong University（上海交通大学）
机构由 AI 辅助整理，请以论文原文为准。
AI总结：
针对树结构机器人控制固件的结构化数据依赖问题，提出FineMote框架，通过静态调度机制优化时序性能，在真实平台上验证了其有效性。
AI中文摘要：
随着机器人系统日益复杂，从结构描述文件生成控制固件已成为降低开发复杂度、提升可维护性的有前景范式。现有机器人描述格式自然将机器人系统表示为层次树结构，设备递归组合为功能子系统，最终构成完整机器人。然而，这种树结构组织也引入了结构化数据依赖，影响感知到决策的延迟，进而影响控制性能。本文提出FineMote，一种针对树结构设备模型的控制固件生成框架，带有调度机制。该框架将异构底层控制逻辑对象化，暴露统一调度单元与执行入口点。基于生成的对象层次结构，调度机制利用编译时信息静态确定执行顺序，最小化运行时开销。我们证明该机制满足截止时间与优先级约束，并进一步推导树内决策延迟的上界。我们实现了该框架，并在真实机器人控制平台上进行评估。实验结果显示时序行为与运行时响应性得到提升，证明了所提设计的实际有效性。
英文摘要：
As robotic systems become increasingly complex, generating control firmware from structural description files has emerged as a promising paradigm for reducing development complexity and improving maintainability. Existing robot description formats naturally represent robotic systems as hierarchical tree structures, where devices are recursively composed into functional subsystems and eventually into the complete robot. However, such tree-structured organization also introduces structured data dependencies that affect perception-to-decision latency and, consequently, control performance. In this paper, we propose FineMote, a control firmware generation framework with a scheduling mechanism tailored for tree-structured device models. The framework objectifies heterogeneous low-level control logic and exposes unified scheduling units and execution entry points. Based on the resulting object hierarchy, the scheduling mechanism exploits compile-time information to statically determine execution order with minimal runtime overhead. We prove that the proposed mechanism satisfies deadline and precedence constraints, and further derive an upper bound on intra-tree decision latency. We implement the proposed framework and evaluate it on real robotic control platforms. The experimental results show improved timing behavior and runtime responsiveness, demonstrating the practical effectiveness of the proposed design.
