μ-RoMS-OS � an Operating System for a Robot Middleware Software for Low-Level-Microcontroller

This paper presents a multitasking system for low- level microcontrollers. The main focus in developing this operating system was to design an optimized software that does not have high requirements in terms of memory or computing time. Another requirement was to be able to port the system to different platforms very easily. Therefore, C was chosen as the programming language. Another focus was on the ease of use of the program. It should also be able to be used by less experienced programmers without a long training phase. The program is now used in a wide variety of projects, from robot systems to wide range of other applications, on different microcontrollers, such as Xmega256A3 or AVR128DB48.