r1rm

R1Rm is a standardized framework for real-time resource management in modular robotic systems. It originated in academic and industry collaborations aimed at coordinating compute, sensing, and actuation across heterogeneous robots and devices. The name emphasizes the framework’s focus on resource management at the core of robotic operation and integration.

The architecture of R1Rm consists of a lightweight runtime, a resource allocator, and a communication substrate. It employs a plugin-based model that allows devices and services to expose capabilities in a uniform way. The runtime enforces deterministic scheduling, fault containment, and predictable performance, with latency targets that scale from microseconds in embedded configurations to milliseconds in large, distributed deployments. The framework is designed to support multi-robot coordination and scalable resource sharing, enabling teams to compose complex workflows from modular components.

A central feature is the R1Rm Policy Language (RPL), a domain-specific language used to express task priorities, time budgets, safety constraints, and quality-of-service guarantees. Policies are compiled into concrete resource plans by the allocator and enforced by schedulers that are aware of policy requirements. This approach aims to balance responsiveness with safety in dynamic environments.

Variants of the framework cover different hardware profiles: R1Rm-M targets microcontroller-based devices with constrained resources, while R1Rm-X is intended for high-performance computing environments. Open-source aspects include components such as R1Rm Core and R1Rm Agent, which have been used in academic trials for autonomous drones and warehouse robotics. The framework is discussed alongside ROS 2 and DDS-based systems, noted for improving determinism while introducing additional integration considerations.

See also: ROS 2, DDS, real-time robotics frameworks.