Related papers: Timing Analysis and Priority-driven Enhancements o…
Modern real-time systems require accurate characterization of task timing behavior to ensure predictable performance, particularly on complex hardware architectures. Existing methods, such as worst-case execution time analysis, often fail…
Real-time cyber-physical systems depend on deterministic task execution to guarantee safety and correctness. Unfortunately, this determinism can unintentionally expose timing information that enables adversaries to infer task execution…
The robot operating system is the de-facto standard for designing and implementing robotics applications. Several previous works deal with the integration of heterogeneous accelerators into ROS-based applications. One of these approaches is…
An accurate prediction of scheduling and execution of instruction streams is a necessary prerequisite for predicting the in-core performance behavior of throughput-bound loop kernels on out-of-order processor architectures. Such predictions…
Task-based programming models are emerging as a promising alternative to make the most of multi-/many-core systems. These programming models rely on runtime systems, and their goal is to improve application performance by properly…
In this paper, we proposed an effective approach for scheduling of multiprocessor unit time tasks with chain precedence on to large multiprocessor system. The proposed longest chain maximum processor scheduling algorithm is proved to be…
Typical schedulers in multi-tenancy environments make use of reactive, feedback-oriented mechanisms based on performance counters to avoid resource contention but suffer from detection lag and loss of performance. In this paper, we address…
This paper presents a hierarchical framework to solve the multi-robot temporal task planning problem. We assume that each robot has its individual task specification and the robots have to jointly satisfy a global collaborative task…
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…
As multicore hardware is becoming increasingly common in real-time systems, traditional scheduling techniques that assume a single worst-case execution time for a task are no longer adequate, since they ignore the impact of shared resources…
Heterogeneous systems commonly adopt dynamic scheduling algorithms to improve resource utilization and enhance scheduling flexibility. However, such flexibility may introduce timing anomalies, wherein locally reduced execution times can…
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS Navigation. 10…
There has been significant progress in understanding the parallelism inherent to iterative sequential algorithms: for many classic algorithms, the depth of the dependence structure is now well understood, and scheduling techniques have been…
A heterogeneous architecture composed by a host and an accelerator must frequently deal with situations where several independent tasks are available to be offloaded onto the accelerator. These tasks can be generated by concurrent…
We study multi-robot persistent monitoring on weighted graphs, where node weights encode monitoring priorities and edge weights encode travel distances. The goal is to design joint robot trajectories that minimize the worst-case weighted…
In this paper we address the problem of designing an interruptible system in a setting in which $n$ problem instances, all equally important, must be solved concurrently. The system involves scheduling executions of contract algorithms…
Elasticity is highly desirable for stream processing systems to guarantee low latency against workload dynamics, such as surges in data arrival rate and fluctuations in data distribution. Existing systems achieve elasticity following a…
Several embedded application domains for reconfigurable systems tend to combine frequent changes with high performance demands of their workloads such as image processing, wearable computing and network processors. Time multiplexing of…
Traditional Real-Time Operating Systems (RTOS) often suffer from limited parallel performance, whereas thread monitoring in Linux-based systems remains challenging. To overcome these limitations, this paper presents a satellite flight…
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…