Related papers: ReDAG-RT: Global Rate-Priority Scheduling for Real…
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…
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…
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…
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…
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…
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…
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…
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…
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…
Real-time systems increasingly use multicore processors in order to satisfy thermal, power, and computational requirements. To exploit the architectural parallelism offered by the multicore processors, parallel task models, scheduling…
This paper proposes a Priority-driven Accelerator Access Management (PAAM) framework for multi-process robotic applications built on top of the Robot Operating System (ROS) 2 middleware platform. The framework addresses the issue of…
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…
Many scientific workflows can be modeled as a Directed Acyclic Graph (henceforth mentioned as DAG) where the nodes represent individual tasks, and the directed edges represent data and control flow dependency between two tasks. Due to the…
The Robot Operating System 2 (ROS2) targets distributed real-time systems and is widely used in the robotics community. Especially in these systems, latency in data processing and communication can lead to instabilities. Though being highly…
Recent commercial hardware platforms for embedded real-time systems feature heterogeneous processing units and computing accelerators on the same System-on-Chip. When designing complex real-time application for such architectures, the…
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) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS~2 has drawn increasing attention from…
Autonomous AI agents on embedded platforms require real-time, risk-aware scheduling under resource and thermal constraints. Classical heuristics struggle with workload irregularity, tabular regressors discard structural information, and…
The analysis of massive scientific data often happens in the form of workflows with interdependent tasks. When such a scientific workflow needs to be scheduled on a parallel or distributed system, one usually represents the workflow as a…
Robots deployed in dynamic environments must contend with environment-driven changes that reshape computation at runtime: new tasks may appear, precedence relations can shift, and overall workload structure evolves, all of which degrade…