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This paper introduces FineMote, a control firmware generation framework designed to optimize scheduling for tree-structured robot control systems. By leveraging compile-time information to statically determine execution order, FineMote minimizes runtime overhead while ensuring that deadline and precedence constraints are met. Experimental evaluations on real robotic platforms reveal significant improvements in timing behavior and runtime responsiveness, highlighting the framework's practical effectiveness in enhancing control performance.
FineMote reduces perception-to-decision latency in robotic systems by statically orchestrating control firmware for tree-structured device models, achieving better timing behavior with minimal overhead.
As robotic systems become increasingly complex, generating control firmware from structural description files has emerged as a promising paradigm for reducing development complexity and improving maintainability. Existing robot description formats naturally represent robotic systems as hierarchical tree structures, where devices are recursively composed into functional subsystems and eventually into the complete robot. However, such tree-structured organization also introduces structured data dependencies that affect perception-to-decision latency and, consequently, control performance. In this paper, we propose FineMote, a control firmware generation framework with a scheduling mechanism tailored for tree-structured device models. The framework objectifies heterogeneous low-level control logic and exposes unified scheduling units and execution entry points. Based on the resulting object hierarchy, the scheduling mechanism exploits compile-time information to statically determine execution order with minimal runtime overhead. We prove that the proposed mechanism satisfies deadline and precedence constraints, and further derive an upper bound on intra-tree decision latency. We implement the proposed framework and evaluate it on real robotic control platforms. The experimental results show improved timing behavior and runtime responsiveness, demonstrating the practical effectiveness of the proposed design.
