Related papers: Budget-based real-time Executor for Micro-ROS
This paper presents a framework for monitoring human and robot conditions in human multi-robot interactions. The proposed framework consists of four modules: 1) human and robot conditions monitoring interface, 2) synchronization time…
Resource management is the principal factor to fully utilize the potential of Edge/Fog computing to execute real-time and critical IoT applications. Although some resource management frameworks exist, the majority are not designed based on…
We propose three novel mathematical optimization formulations that solve the same two-type heterogeneous multiprocessor scheduling problem for a real-time taskset with hard constraints. Our formulations are based on a global scheduling…
In traditional robot behavior programming, the edit-compile-simulate-deploy-run cycle creates a large mental disconnect between program creation and eventual robot behavior. This significantly slows down behavior development because there…
R has become a cornerstone of scientific and statistical computing due to its extensive package ecosystem, expressive syntax, and strong support for reproducible analysis. However, as data sizes and computational demands grow, native R…
Modern computing platforms for robotics applications comprise a set of heterogeneous elements, e.g., multi-core CPUs, embedded GPUs, and FPGAs. FPGAs are reprogrammable hardware devices that allow for fast and energy-efficient computation…
This paper presents the research work on multicore microcontrollers using parallel, and time critical programming for the embedded systems. Due to the high complexity and limitations, it is very hard to work on the application development…
Robots deployed in dynamic environments must contend with environment-driven changes that reshape computation at runtime: new tasks may appear, precedence relations can shift, and overall workload structure evolves, all of which degrade…
Ensuring the functional safety of Autonomous Vehicles (AVs) requires motion planning modules that not only operate within strict real-time constraints but also maintain controllability in case of system faults. Existing safeguarding…
This paper presents Boomerang, an I/O system that integrates a legacy non-real-time OS with one that is customized for timing-sensitive tasks. A relatively small RTOS benefits from the pre-existing libraries, drivers and services of the…
Industries are considering the adoption of cloud computing for real-time applications due to current improvements in network latencies and the advent of Fog and Edge computing. To create an RT-cloud capable of hosting real-time…
Distributed real-time and embedded (DRE) systems executing mixed criticality task sets are increasingly being deployed in mobile and embedded cloud computing platforms, including space applications. These DRE systems must not only operate…
In this paper we propose a new scheduling algorithm called Real Time Scheduling (RTS) which uses virtual nodes for self stabilization. This algorithm deals with all the contributing components of the end-to-end travelling delay of data…
Real-Time Optimization (RTO) plays a crucial role in the process operation hierarchy by determining optimal set-points for the lower-level controllers. However, at the control layer, these set-points may be difficult to track due to…
This article introduces a software framework for benchmarking robot task scheduling algorithms in dynamic and uncertain service environments. The system provides standardized interfaces, configurable scenarios with movable objects, human…
Robotic systems are becoming pervasive and adopted in increasingly many domains, such as manufacturing, healthcare, and space exploration. To this end, engineering software has emerged as a crucial discipline for building maintainable and…
We adapt an existing preemptive scheduling model of RTOS kernel by eChronos from machine-assisted proof to Spin-based model checker. The model we constructed can be automatically verified rather than formulating proofs by hand. Moreover, we…
Recent breakthroughs in large Language Models (LLMs) have enabled various generative tasks on a single model. Real-world services (e.g., OpenAI's ChatGPT [27]) powered by an LLM often concurrently support latency-critical requests for…
Real-time execution is essential for cyber-physical systems such as robots. These systems operate in dynamic real-world environments where even small delays can undermine responsiveness and compromise performance. Asynchronous inference has…
Modern autonomous applications are increasingly utilizing multiple heterogeneous processors (XPUs) to accelerate different stages of algorithm modules. However, existing runtime systems for these applications, such as ROS, can only perform…