The Time-Triggered Sensor Fusion Model

Abstract

The time-triggered sensor fusion model decom-poses a real time system into three levels, a node level, containing the sensors and the actuators, a cluster level that gathers measurements and per-forms sensor fusion, and an application level where an application program makes control decisions based on an environmental information provided by the cluster level. Because the application code is independent of the employed sensors, the system is open to sensor reconfigurations and reuse of the application code. Furthermore the model contains a hardware-independent application interface and a time-triggered smart transducer network. An application of the presented ideas is shown with a mobile robot controlled by a Time-Triggered Protocol network.