Related papers: Work in Progress: Middleware-Transparent Callback …
Utilizing on-chip caches in embedded multiprocessor-system-on-a-chip (MPSoC) based systems is critical from both performance and power perspectives. While most of the prior work that targets at optimizing cache behavior are performed at…
In Function-as-a-Service (FaaS) serverless, large applications are split into short-lived stateless functions. Deploying functions is mutually profitable: users need not be concerned with resource management, while providers can keep their…
Almost all of the current process scheduling algorithms which are used in modern operating systems (OS) have their roots in the classical scheduling paradigms which were developed during the 1970's. But modern computers have different types…
Asynchronous frameworks for distributed embedded systems, like ROS and MQTT, are increasingly used in safety-critical applications such as autonomous driving, where the cost of unintended behavior is high. The coordination mechanism between…
In this work we present an experimental setup to show the suitability of ROS 2.0 for real-time robotic applications. We disclose an evaluation of ROS 2.0 communications in a robotic inter-component (hardware) communication case on top of…
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…
Autonomous applications are typically developed over Robot Operating System 2.0 (ROS2) even in time-critical systems like automotive. Recent years have seen increased interest in developing model-based timing analysis and schedule…
Mixed-criticality real-time scheduling has been developed to improve resource utilization while guaranteeing safe execution of critical applications. These studies use optimistic resource reservation for all the applications to improve…
The field of robotics faces significant challenges related to the complexity and interoperability of existing middleware frameworks, like ROS2, which can be difficult for new developers to adopt. To address these issues, we propose…
Real-time embedded platforms with resource constraints can take the benefits of mixed-criticality system where applications with different criticality-level share computational resources, with isolation in the temporal and spatial domain. A…
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous…
Federated scheduling is a promising approach to schedule parallel real-time tasks on multi-cores, where each heavy task exclusively executes on a number of dedicated processors, while light tasks are treated as sequential sporadic tasks and…
Multicore timing interference, arising when multiple requests contend for the same shared hardware resources, is a primary concern for timing verification and validation of time-critical applications. Bandwidth control and regulation…
We consider the partitioned scheduling problem of multimode real-time systems upon identical multiprocessor platforms. During the execution of a multimode system, the system can change from one mode to another such that the current task set…
The Linux kernel is mostly designed for multi-programed environments, but high-performance applications have other requirements. Such applications are run standalone, and usually rely on runtime systems to distribute the application's…
Migrating heterogeneous high-performance computing (HPC) systems to resource-aware scheduling introduces both technical and behavioral challenges, particularly in production environments with established user workflows. This paper presents…
Real-time responsiveness in Linux is often constrained by interrupt contention and timer handling overhead, making it challenging to achieve sub-microsecond latency. This work introduces an interrupt isolation approach that centralizes and…
The use of the ROS middleware is a growing trend in robotics in general, ROS and hard real-time embedded systems have however not been easily uniteable while retaining the same overall communication and processing methodology at all levels.…
There is increasing interest in using Linux in the real-time domain due to the emergence of cloud and edge computing, the need to decrease costs, and the growing number of complex functional and non-functional requirements of real-time…
Search and rescue, wildfire monitoring, and flood/hurricane impact assessment are mission-critical services for recent IoT networks. Communication synchronization, dependability, and minimal communication jitter are major simulation and…