We present a sample im,plementation of a run-time scheduler, split betureen, h>arduiare and softuiare: controlling a real-time robotics application. Xh.e hm-duiare part of th,e ru.n-time sch.eduler. implemented as a Finite State Machine (FSM). sch#edules th,e tasks for th,e application, and can be readily exten,ded to include additional tasks i n hardware or in softmare. Th.e softuiare part executes tasks based on. uhich? tasks are ready to execute as in,dicated by the F S M . We h,ave

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... lly implemented the scheduler o n a uiorking prototype which, sh!ouis the feasibility of our approach,.