Task scheduling in the onboard computer system

The problem of rational resource allocation in the on-board computing system of a robotic complex is considered. As a first step, the possibility of using online scheduling algorithms without preemptive for distributed systems, the Round Robin cyclic algorithm, is analyzed. To demonstrate the basic capabilities of the developed scheduler, a video stream segmentation task is used. The peculiarities of task processing for real-time vision systems are demonstrated. The problem of inter-node synchronization of sensor data is solved. A feature of on-board robotics resources, such as the need for a linking software in the form of Robot Operation System, is taken into account. To develop the task scheduler, the C++ programming language and the ROS2 framework, which provides asynchronous networking, are used. A scheduling model and software implementing this model are being built to perform tasks in a distributed environment in order to control the processing of video streams in a vision system.