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- Tang, YueNortheastern Univ, Shenyang, Peoples R China. (author)
Real-Time Performance Analysis of Processing Systems on ROS 2 Executors
- Article/chapterEnglish2023
Publisher, publication year, extent ...
- IEEE,2023
- printrdacarrier
Numbers
- LIBRIS-ID:oai:DiVA.org:uu-508825
- https://urn.kb.se/resolve?urn=urn:nbn:se:uu:diva-508825URI
- https://doi.org/10.1109/RTAS58335.2023.00014DOI
Supplementary language notes
- Language:English
- Summary in:English
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- SwePubSwePub
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Notes
- 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 and genre
- 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
- ROS
- real-time constraints
- DAG
- timing analysis
Added entries (persons, corporate bodies, meetings, titles ...)
- Guan, NanCity Univ Hong Kong, Hong Kong, Peoples R China. (author)
- Jiang, XuNortheastern Univ, Shenyang, Peoples R China. (author)
- Luo, XiantongNortheastern Univ, Shenyang, Peoples R China. (author)
- Wang, YiUppsala universitet,Datorteknik,Northeastern Univ, Shenyang, Peoples R China.(Swepub:uu)wangyi (author)
- Northeastern Univ, Shenyang, Peoples R China.City Univ Hong Kong, Hong Kong, Peoples R China. (creator_code:org_t)
Related titles
- In:2023 IEEE 29th Real-Timea and Embedded Technology and Applications Symposium, RTAS: IEEE, s. 80-9297983503217609798350321777
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