Related papers: Work-in-Progress: Function-as-Subtask API Replacin…
ROS 2 has become a dominant middleware for robotic systems, where perception, estimation, planning, and control pipelines are structured as directed acyclic graphs of callbacks executed under a shared executor. However, default ROS 2…
This paper addresses limitations of current scheduling methods in the Robot Operating System (ROS)2, focusing on scheduling tasks beyond simple chains and analyzing arbitrary Directed Acyclic Graphs (DAGs). While previous research has…
To satisfy the increasing performance needs of modern cyber-physical systems, multiprocessor architectures are increasingly utilized. To efficiently exploit their potential parallelism in hard real-time systems, appropriate task models and…
Directed acyclic graph (DAG) tasks are currently adopted in the real-time domain to model complex applications from the automotive, avionics, and industrial domains that implement their functionalities through chains of intercommunicating…
The scheduling and schedulability analysis of real-time directed acyclic graph (DAG) task systems have received much recent attention. The DAG model can accurately represent intra-task parallelim and precedence constraints existing in many…
Python-written data analytics applications can be modeled as and compiled into a directed acyclic graph (DAG) based workflow, where the nodes are fine-grained tasks and the edges are task dependencies. Such analytics workflow jobs are…
This paper considers the scheduling of parallel real-time tasks with arbitrary-deadlines. Each job of a parallel task is described as a directed acyclic graph (DAG). In contrast to prior work in this area, where decomposition-based…
In Autonomous Driving Systems (ADS), Directed Acyclic Graphs (DAGs) are widely used to model complex data dependencies and inter-task communication. However, existing DAG scheduling approaches oversimplify data fusion tasks by assuming…
Parallel real-time embedded applications can be modelled as directed acyclic graphs (DAGs) whose nodes model subtasks and whose edges model precedence constraints among subtasks. Efficiently scheduling such parallel tasks can be challenging…
Autoware is an autonomous driving system implemented on Robot Operation System (ROS) 2, where an end-to-end timing guarantee is crucial to ensure safety. However, existing ROS 2 cause-effect chain models for analyzing end-to-end latency…
Vehicular cloud (VC) platforms integrate heterogeneous and distributed resources of moving vehicles to offer timely and cost-effective computing services. However, the dynamic nature of VCs (i.e., limited contact duration among vehicles),…
With the rapid advancement of Artificial Intelligence, the Graphics Processing Unit (GPU) has become increasingly essential across a growing number of safety-critical application domains. Applying a GPU is indispensable for parallel…
Multiprocessor scheduling of hard real-time tasks modeled by directed acyclic graphs (DAGs) exploits the inherent parallelism presented by the model. For DAG tasks, a node represents a request to execute an object on one of the available…
Optimization of directed acyclic graph (DAG) structures has many applications, such as neural architecture search (NAS) and probabilistic graphical model learning. Encoding DAGs into real vectors is a dominant component in most…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
DAG (directed acyclic graph) tasks are widely used to model parallel real-time workload. The real-time performance of a DAG task not only depends on its total workload, but also its graph structure. Intuitively, with the same total…
Many scientific workflows can be represented by a Directed Acyclic Graph (DAG) where each node represents a task, and there will be a directed edge between two tasks if and only if there is a dependency relationship between the two i.e. the…
The Robot Operating System 2 (ROS~2) is a widely used middleware that provides software libraries and tools for developing robotic systems. In these systems, tasks are scheduled by ROS~2 executors. Since the scheduling behavior of the…
Scheduling computational tasks represented by directed acyclic graphs (DAGs) is challenging because of its complexity. Conventional scheduling algorithms rely heavily on simple heuristics such as shortest job first (SJF) and critical path…
In this paper, we address the problem of supporting stateful workflows following a Function-as-a-Service (FaaS) model in edge networks. In particular we focus on the problem of data transfer, which can be a performance bottleneck due to the…