Related papers: Fixed-Priority and EDF Schedules for ROS2 Graphs o…

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…

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…

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…

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…

The second generation of Robotic Operating System, ROS 2, has gained much attention for its potential to be used for safety-critical robotic applications. The need to provide a solid foundation for timing correctness and scheduling…

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…

We consider global fixed-priority (G-FP) scheduling of parallel tasks, in which each task is represented as a directed acyclic graph (DAG). We summarize and highlight limitations of the state-of-the-art analyses for G-FP and propose a novel…

The Directed Acyclic Graph (DAG) task model for real-time scheduling finds its primary practical target in Robot Operating System 2 (ROS 2). However, ROS 2's publish/subscribe API leaves DAG precedence constraints unenforced: a callback may…

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…

In this paper we study the global scheduling of periodic task systems upon multiprocessor platforms. We first show two very general properties which are well-known for uniprocessor platforms and which remain for multiprocessor platforms:…

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…

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…

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 latency-sensitive applications, efficient task scheduling is crucial for maintaining Quality of Service (QoS) while meeting strict timing constraints. This paper addresses the challenge of scheduling periodic tasks structured as directed…

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…

A growing number of applications like probabilistic machine learning, sparse linear algebra, robotic navigation, etc., exhibit irregular data flow computation that can be modeled with directed acyclic graphs (DAGs). The irregularity arises…

A model has been proposed in [Baruah et al., in Proceedings of the IEEE Real-Time Systems Symposium 2012] for representing recurrent precedence-constrained tasks to be executed on multiprocessor platforms, where each recurrent task is…

Workloads in data processing clusters are often represented in the form of DAG (Directed Acyclic Graph) jobs. Scheduling DAG jobs is challenging. Simple heuristic scheduling algorithms are often adopted in practice in production data…

Many applications from the robotics domain can benefit from FPGA acceleration. A corresponding key question is how to integrate hardware accelerators into software-centric robotics programming environments. Recently, several approaches have…

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…