@inproceedings{19abdd2b76cb4424b6048fc7c69f033b,
title = "Real-Time Performance Analysis of Processing Systems on ROS 2 Executors",
abstract = "ROS (Robot Operating System) is one of the most popular robotic software development frameworks. Robotic systems in safety-critical domains are usually subject to hard realtime constraints, so timing behaviors must be formally modeled and analyzed to guarantee that real-time constraints are always honored at run-time. Although a series of analysis techniques has been proposed to analyze the timing performance of ROS 2, the state-of-the-art still generates pessimistic results for ROS 2 systems modeled as DAG (Directed Acyclic Graph). This paper focuses on the analysis of such systems, and proposes techniques to analyze the timing performance in a more precise manner. Experiments with both randomly generated workload and a case study are conducted to evaluate and demonstrate our results.",
keywords = "DAG, ROS, real-time constraints, timing analysis",
author = "Yue Tang and Nan Guan and Xu Jiang and Xiantong Luo and Wang Yi",
note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023 ; Conference date: 09-05-2023 Through 12-05-2023",
year = "2023",
doi = "10.1109/RTAS58335.2023.00014",
language = "英语",
series = "Proceedings of the IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "80--92",
booktitle = "Proceedings - 29th IEEE Real-Time and Embedded Technology and Applications Symposium, RTAS 2023",
address = "美国",
}