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Real-Time Performance Analysis of Processing Systems on ROS 2 Executors
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- Tang, Yue (author)
- Northeastern Univ, Shenyang, Peoples R China.
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- Guan, Nan (author)
- City Univ Hong Kong, Hong Kong, Peoples R China.
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- Jiang, Xu (author)
- Northeastern Univ, Shenyang, Peoples R China.
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- Northeastern Univ, Shenyang, Peoples R China City Univ Hong Kong, Hong Kong, Peoples R China. (creator_code:org_t)
- IEEE, 2023
- 2023
- English.
- In: 2023 IEEE 29th Real-Timea and Embedded Technology and Applications Symposium, RTAS. - : IEEE. - 9798350321760 - 9798350321777 ; , s. 80-92
- Conference paper (peer-reviewed)
Abstract
Subject headings
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- 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 real-time 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.
Subject headings
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datavetenskap (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Sciences (hsv//eng)
- TEKNIK OCH TEKNOLOGIER -- Elektroteknik och elektronik -- Robotteknik och automation (hsv//swe)
- ENGINEERING AND TECHNOLOGY -- Electrical Engineering, Electronic Engineering, Information Engineering -- Robotics (hsv//eng)
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorteknik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Engineering (hsv//eng)
Keyword
- ROS
- real-time constraints
- DAG
- timing analysis
Publication and Content Type
- ref (subject category)
- kon (subject category)
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- Tang, Yue
- Guan, Nan
- Jiang, Xu
- Luo, Xiantong
- Wang, Yi
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- NATURAL SCIENCES
- NATURAL SCIENCES
- and Computer and Inf ...
- and Computer Science ...
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- ENGINEERING AND TECHNOLOGY
- ENGINEERING AND ...
- and Electrical Engin ...
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- Uppsala University
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