• Dynamic Scheduling for Obstacle Avoidance in Mobile Robots 

      Balch, Tucker; Forbes, Harold C.; Schwan, Karsten (Georgia Institute of Technology, 1993)
      In robotics applications the speed at which a task may be completed is often limited by computation rather than actuator or sensor throughput. This research concerns the efficient threads-based implementation of motor ...
    • Rapid -- A Multiprocessor Scheduler for Dynamic Real-Time Applications 

      Forbes, Harold C.; Schwan, Karsten (Georgia Institute of Technology, 1994)
      This paper describes and evaluates operating system support for on-line scheduling of real-time tasks on shared memory multiprocessors. The contributions of this work include: (1) the design and implementation of an ...