A Real-Time Embedded Kernel for Nonvisual Robotic Sensors

The authors 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 their necessities. Yartek has been developed on a Coldfire micro-controller. The real-time periodic tasks are scheduled using non-preemptive EDF, while the non-real-time tasks are scheduled in background. It uses a deferred interrupt mechanism, and memory is managed using contiguous allocation.