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Real-Time Schedulin...
Real-Time Scheduling and Analysis of Processing Chains on Multi-threaded Executor in ROS 2
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- Jiang, Xu (författare)
- Northeastern Univ, Key Lab Intelligent Comp Med Image, Minist Educ, Boston, MA 02115 USA.
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- Ji, Dong (författare)
- Northeastern Univ, Key Lab Intelligent Comp Med Image, Minist Educ, Boston, MA 02115 USA.
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- Guan, Nan (författare)
- City Univ Hong Kong, Hong Kong, Peoples R China.
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- Li, Ruoxiang (författare)
- City Univ Hong Kong, Hong Kong, Peoples R China.
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- Tang, Yue (författare)
- Northeastern Univ, Key Lab Intelligent Comp Med Image, Minist Educ, Boston, MA 02115 USA.
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- Wang, Yi (författare)
- Uppsala universitet,Datorteknik,Northeastern Univ, Key Lab Intelligent Comp Med Image, Minist Educ, Boston, MA 02115 USA.
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Northeastern Univ, Key Lab Intelligent Comp Med Image, Minist Educ, Boston, MA 02115 USA City Univ Hong Kong, Hong Kong, Peoples R China. (creator_code:org_t)
- IEEE, 2022
- 2022
- Engelska.
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Ingår i: 2022 IEEE Real-Time Systems Symposium (RTSS 2022). - : IEEE. - 9781665453462 - 9781665453479 ; , s. 27-39
- Relaterad länk:
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https://urn.kb.se/re...
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https://doi.org/10.1...
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Abstract
Ämnesord
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- ROS (Robot Operating System) is currently one of the most popular development frameworks for robotic software, which is usually subject to hard real-time constraints in safe-critical domains. Designers must formally model and analyze its timing behaviors to guarantee that real-time constraints are always honored at run-time. This paper studies real-time scheduling and analysis under a multi-threaded executor in ROS 2. We present a formal description of the scheduling model of multi-threaded executors, and develop response time analysis techniques for processing chains executing on it. Moreover, we identify a risk of increasing the response time of chains that may be caused by improper design when deploying systems on multi-threaded executors, which provides a useful guidance to designers. We conduct experiments with both randomly generated workloads and case studies on a realistic ROS 2 platform to evaluate and demonstrate our results.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
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- kon (ämneskategori)
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