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  • Research Article
  • Open Access

A Real-Time Embedded Kernel for Nonvisual Robotic Sensors

EURASIP Journal on Embedded Systems20082008:390106

  • Received: 5 April 2007
  • Accepted: 11 January 2008
  • Published:


We describe a novel and flexible real-time kernel, called Yartek, with low overhead and low footprint suitable for embedded systems. The motivation of this development was due to the difficulty to find a free and stable real-time kernel suitable for our necessities. Yartek has been developed on a Coldfire microcontroller. The real-time periodic tasks are scheduled using nonpreemptive EDF, while the non-real-time tasks are scheduled in background. It uses a deferred interrupt mechanism, and memory is managed using contiguous allocation. Also, a design methodology was devised for the nonpreemptive EDF scheduling, based on the computation of bounds on the periodic task durations. Finally, we describe a case study, namely, an embedded system developed with Yartek for the implementation of nonvisual perception for mobile robots. This application has been designed using the proposed design methodology.


  • Mobile Robot
  • Control Structure
  • Embed System
  • Design Methodology
  • Electronic Circuit

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Authors’ Affiliations

DEEI, Università degli Studi di Trieste, 34127 Trieste, Italy
AIBS-Lab S.r.l., Via del Follatoio 12, 34148 Trieste, Italy


© Enzo Mumolo et al. 2008

This article is published under license to BioMed Central Ltd. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.