Real-time Linux communications: an evaluation of the Linux communication stack for real-time robotic applications

Understand

As robotics systems become more distributed, the communications between different robot modules play a key role for the reliability of the overall robot control.

• In this paper, we present a study of the Linux communication stack meant for real-time robotic applications.
• We evaluate the real-time performance of UDP based communications in Linux on multi-core embedded devices as test platforms.
• We prove that, under an appropriate configuration, the Linux kernel greatly enhances the determinism of communications using the UDP protocol.