Jiao: Bridging Isolation and Customization in Mixed Criticality Robotics

arXiv:2605.03641v1 Announce Type: new Abstract: Consumer robotics demands consolidation of safety-critical control, perception pipelines, and user applications on shared multicore platforms. While static partitioning hypervisors provide hardware-enforced isolation, directly transplanting automotive architectures encounters an expertise asymmetry problem in which end-users modifying robot behavior lack the systems knowledge that platform developers possess. We present an architecture addressing this challenge through three integrated components. A Safe IO Cell provides hardware-level override capability. A Parameter Synchronization Service encapsulates cross-domain complexity. A Safety Communication Layer implements IEC61508-aligned verification. Our empirical evaluation on an ARM Cortex-A55 platform demonstrates that partition isolation reduces cycle-period jitter by 84.5% and cuts tail timing error by nearly an order of magnitude (p99 |jitter| from 69.0,mus to 7.8,mus), eliminating all >50,musexcursions.

Source: arXiv cs.RO | 2026-05-06