# Real-time control architecture based on Xenomai using ROS packages for a service robot

> Research article (Journal of Systems and Software, 2019) · cited 38× · AI/ML

**Wikidata**: [openalex:W2912061811](https://www.wikidata.org/wiki/openalex:W2912061811)  
**Source**: https://4ort.xyz/entity/real-time-control-architecture-based-on-xenomai-using-ros-packages-for-a-service-robot