Related papers: Timing Analysis and Priority-driven Enhancements o…
In Real-time system, utilization based schedulability test is a common approach to determine whether or not tasks can be admitted without violating deadline requirements. The exact problem has previously been proven intractable even upon…
Perception and mapping systems are among the most computationally, memory, and bandwidth intensive software components in robotics. Therefore, analysis, debugging, and optimization are crucial to improve perception systems performance in…
Multi-mode real-time systems are those which support applications with different modes of operation, where each mode is characterized by a specific set of tasks. At run-time, such systems can, at any time, be requested to switch from its…
In many embedded real-time systems, applications often interact with I/O devices via read/write operations, which may incur considerable suspension delays. Unfortunately, prior analysis methods for validating timing correctness in embedded…
The management of timing constraints in a real-time operating system (RTOS) is usually realized through a global tick counter. This counter acts as the foundational time unit for all tasks in the systems. In order to establish a connection…
The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate…
Real-life parallel machine scheduling problems can be characterized by: (i) limited information about the exact task duration at scheduling time, and (ii) an opportunity to reschedule the remaining tasks each time a task processing is…
The main objective of this paper is to develop the two different ways in which round robin architecture is modified and made suitable to be implemented in real time and embedded systems. The scheduling algorithm plays a significant role in…
Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with…
Real-time end-to-end task scheduling in networked control systems (NCSs) requires the joint consideration of both network and computing resources to guarantee the desired quality of service (QoS). This paper introduces a new model for…
The main objective of this paper is to improve the Round Robin scheduling algorithm using the dynamic time slice concept. CPU scheduling becomes very important in accomplishing the operating system (OS) design goals. The intention should be…
The deterministic (timing) behavior of real-time systems (RTS) can be used by adversaries - say, to launch side channel attacks or even destabilize the system by denying access to critical resources. We propose a protocol (named REORDER) to…
Many hardware structures in today's high-performance out-of-order processors do not scale in an efficient way. To address this, different solutions have been proposed that build execution schedules in an energy-efficient manner. Issue time…
Formal verification of robotic applications presents challenges due to their hybrid nature and distributed architecture. This paper introduces ROSMonitoring 2.0, an extension of ROSMonitoring designed to facilitate the monitoring of both…
Systems based on the Robot Operating System (ROS) are easy to extend with new on-line algorithms and devices. However, there is relatively little support for coordinating a large number of heterogeneous sub-systems. In this paper we propose…
Real-time systems, particularly those used in domains like automated driving, are increasingly adopting neural networks. From this trend arises the need for high-performance hardware exhibiting predictable timing behavior. While…
The Robot Operating System 2 (ROS 2) is rapidly impacting the intelligent machines sector -- on space missions, large agriculture equipment, multi-robot fleets, and more. Its success derives from its focused design and improved capabilities…
Cyber-physical systems (CPS) integrate sensing, computing, communication and actuation capabilities to monitor and control operations in the physical environment. A key requirement of such systems is the need to provide predictable…
This paper focuses on the analysis of real-time non preemptive multiprocessor scheduling with precedence and several latency constraints. It aims to specify a schedulability condition which enables a designer to check a priori -without…
There hardly exists a general solver that is efficient for scheduling problems due to their diversity and complexity. In this study, we develop a two-stage framework, in which reinforcement learning (RL) and traditional operations research…