The high degree of complexity and autonomy of future robotic space missions, such as Mars Science Laboratory (MSL), poses serious challenges in assuring their reliability and efficiency. Providing fast and safe concurrent synchronization is of critical importance to such autonomous embedded software systems. The application of nonblocking synchronization is known to help eliminate the hazards of deadlock, livelock, and priority inversion. The nonblocking programming techniques are notoriously

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... fficult to implement and offer a variety of semantic guarantees and usability and performance trade-offs. The present software development and certification methodologies applied at NASA do not reach the level of detail of providing guidelines for the design of concurrent software. The complex task of engineering reliable and efficient concurrent synchronization is left to the programmer's ingenuity. A number of Software Transactional Memory (STM) approaches gained wide popularity because of their easy to apply interfaces, but currently fail to offer scalable nonblocking transactions. In this work we provide an in-depth analysis of the nonblocking synchronization semantics and their applicability in mission critical code. We describe a generic implementation of a methodology for scalable implementation of concurrent objects. Our performance evaluation demonstrates that our approach is practical and outperforms the application of nonblocking transactions by a large factor. In addition, we apply our Descriptor-based approach to provide a solution to the fundamental ABA problem. Our ABA prevention scheme, called the λδ approach, outperforms by a large factor the use of garbage collection for the safe management of each shared location. It offers speeds comparable to the application of the architecture-specific CAS2 instruction used for version counting. The λδ approach is an ABA prevention technique based on classification of concurrent operations and 3-step execution of a Descriptor object. A practical alternative to the application of CAS2 is particularly important for the engineering of embedded systems.