Static Timing Orchestration for Tree-Structured Robot Control Firmware

Abstract

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.