RTOS for Navigational Robot..

hi all, i's like to know the possible choices that i have in selecting the OS for a general purpose navigational robot. the robot has been built
using the Reactive Hybrid Architecture so what are the options that i have or else what are the architectures of OS that support this paradigm so that i can build my own.the latter would be more helpful as the memory constarints are rather high so i'll have to build a trimmed down version of the OS. any research papers or documents would be helpful. A. Chaturvedi
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