Volume
LIPIcs, Volume 335
37th Euromicro Conference on Real-Time Systems (ECRTS 2025)
-
Part of:
Series:
Leibniz International Proceedings in Informatics (LIPIcs)
Conference: Euromicro Conference on Real-Time Systems (ECRTS)
Event
ECRTS 2025, July 8-11, 2025, Brussels, BelgiumEditor
Publication Details
- published at: 2025-07-07
- Publisher: Schloss Dagstuhl – Leibniz-Zentrum für Informatik
- ISBN: 978-3-95977-377-5
- DBLP: db/conf/ecrts/ecrts2025
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Document
Complete Volume
LIPIcs, Volume 335, ECRTS 2025, Complete Volume
Abstract
LIPIcs, Volume 335, ECRTS 2025, Complete Volume
Cite as
37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 1-554, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@Proceedings{mancuso:LIPIcs.ECRTS.2025,
title = {{LIPIcs, Volume 335, ECRTS 2025, Complete Volume}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {1--554},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025},
URN = {urn:nbn:de:0030-drops-237726},
doi = {10.4230/LIPIcs.ECRTS.2025},
annote = {Keywords: LIPIcs, Volume 335, ECRTS 2025, Complete Volume}
}
Document
Front Matter
Front Matter, Table of Contents, Preface, Conference Organization
Abstract
Front Matter, Table of Contents, Preface, Conference Organization
Cite as
37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 0:i-0:xx, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{mancuso:LIPIcs.ECRTS.2025.0,
author = {Mancuso, Renato},
title = {{Front Matter, Table of Contents, Preface, Conference Organization}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {0:i--0:xx},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.0},
URN = {urn:nbn:de:0030-drops-237717},
doi = {10.4230/LIPIcs.ECRTS.2025.0},
annote = {Keywords: Front Matter, Table of Contents, Preface, Conference Organization}
}
Document
A First Look at ROS 2 Applications Written in Asynchronous Rust
Abstract
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous programming. Existing real-time scheduling and response-time analysis techniques for ROS 2 focus on applications written in C++ and do not address the unique execution models and challenges presented by Rust’s asynchronous programming paradigm. In this paper, we analyze the execution model of R2R - an asynchronous Rust ROS 2 bindings and various asynchronous Rust runtimes, comparing them with the execution model of C++ ROS 2 applications. We propose a structured approach for R2R applications aimed at deterministic real-time operation involving thread prioritization and callback-to-thread mapping schemes. Our experimental evaluation based on measuring end-to-end latencies of a synthetic application shows that the proposed approach is effective and outperforms other evaluated configurations. A more complex autonomous driving case study demonstrates its practical applicability. Overall, the experimental results indicate that our proposed structure achieves bounded response times for time-critical tasks. This paves the way for future work to adapt existing or develop new response-time analysis techniques for R2R applications using our structure.
Cite as
Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek. A First Look at ROS 2 Applications Written in Asynchronous Rust. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 1:1-1:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{skoudlil_et_al:LIPIcs.ECRTS.2025.1,
author = {\v{S}koudlil, Martin and Sojka, Michal and Hanz\'{a}lek, Zden\v{e}k},
title = {{A First Look at ROS 2 Applications Written in Asynchronous Rust}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {1:1--1:21},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.1},
URN = {urn:nbn:de:0030-drops-235794},
doi = {10.4230/LIPIcs.ECRTS.2025.1},
annote = {Keywords: ROS, Rust, Real-time, Response time}
}
Document
Multi-Objective Memory Bandwidth Regulation and Cache Partitioning for Multicore Real-Time Systems
Abstract
Memory bandwidth regulation and cache partitioning are widely used techniques for achieving predictable timing in real-time computing systems. Combined with partitioned scheduling, these methods require careful co-allocation of tasks and resources to cores, as task execution times strongly depend on available allocated resources. To address this challenge, this paper presents a 0-1 linear program for task-resource co-allocation, along with a multi-objective heuristic designed to minimize resource usage while guaranteeing schedulability under a preemptive EDF scheduling policy. Our heuristic employs a multi-layer framework, where an outer layer explores resource allocations using Pareto-pruned search, and an inner layer optimizes task allocation by solving a knapsack problem using dynamic programming. To evaluate the performance of the proposed optimization algorithm, we profile real-world benchmarks on an embedded AMD UltraScale+ ZCU102 platform, with fine-grained resource partitioning enabled by the Jailhouse hypervisor, leveraging cache set partitioning and MemGuard for memory bandwidth regulation. Experiments based on the benchmarking results show that the proposed 0-1 linear program outperforms existing mixed-integer programs by finding more optimal solutions within the same time limit. Moreover, the proposed multi-objective multi-layer heuristic performs consistently better than the state-of-the-art multi-resource-task co-allocation algorithm in terms of schedulability, resource usage, number of non-dominated solutions, and computational efficiency.
Cite as
Binqi Sun, Zhihang Wei, Andrea Bastoni, Debayan Roy, Mirco Theile, Tomasz Kloda, Rodolfo Pellizzoni, and Marco Caccamo. Multi-Objective Memory Bandwidth Regulation and Cache Partitioning for Multicore Real-Time Systems. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 2:1-2:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{sun_et_al:LIPIcs.ECRTS.2025.2,
author = {Sun, Binqi and Wei, Zhihang and Bastoni, Andrea and Roy, Debayan and Theile, Mirco and Kloda, Tomasz and Pellizzoni, Rodolfo and Caccamo, Marco},
title = {{Multi-Objective Memory Bandwidth Regulation and Cache Partitioning for Multicore Real-Time Systems}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {2:1--2:23},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.2},
URN = {urn:nbn:de:0030-drops-235807},
doi = {10.4230/LIPIcs.ECRTS.2025.2},
annote = {Keywords: Multi-objective optimization, memory bandwidth regulation, cache partitioning, partitioned scheduling, real-time systems}
}
Document
Enabling Containerisation of Distributed Applications with Real-Time Constraints
Abstract
Containerisation is becoming a cornerstone of modern distributed systems, thanks to their lightweight virtualisation, high portability, and seamless integration with orchestration tools such as Kubernetes. The usage of containers has also gained traction in real-time cyber-physical systems, such as software-defined vehicles, which are characterised by strict timing requirements to ensure safety and performance. Nevertheless, ensuring real-time execution of co-located containers is challenging because of mutual interference due to the sharing of the same processing hardware. Existing parallel computing frameworks such as Ray and its Kubernetes-enabled variant, KubeRay, excel in distributed computation but lack support for scheduling policies that allow guaranteeing real-time timing constraints and CPU resource isolation between containers, such as the SCHED_DEADLINE policy of Linux. To fill this gap, this paper extends Ray to support real-time containers that leverage SCHED_DEADLINE. To this end, we propose KubeDeadline, a novel, modular Kubernetes extension to support SCHED_DEADLINE. We evaluate our approach through extensive experiments, using synthetic workloads and a case study based on the MobileNet and EfficientNet deep neural networks. Our evaluation shows that KubeDeadline ensures deadline compliance in all synthetic workloads, adds minimal deployment overhead (in the order of milliseconds), and achieves lower worst-case response times, up to 4 times lower, than vanilla Kubernetes under background interference.
Cite as
Nasim Samimi, Luca Abeni, Daniel Casini, Mauro Marinoni, Twan Basten, Mitra Nasri, Marc Geilen, and Alessandro Biondi. Enabling Containerisation of Distributed Applications with Real-Time Constraints. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 3:1-3:29, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{samimi_et_al:LIPIcs.ECRTS.2025.3,
author = {Samimi, Nasim and Abeni, Luca and Casini, Daniel and Marinoni, Mauro and Basten, Twan and Nasri, Mitra and Geilen, Marc and Biondi, Alessandro},
title = {{Enabling Containerisation of Distributed Applications with Real-Time Constraints}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {3:1--3:29},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.3},
URN = {urn:nbn:de:0030-drops-235816},
doi = {10.4230/LIPIcs.ECRTS.2025.3},
annote = {Keywords: Kubernetes, real-time containers, SCHED\underlineDEADLINE, KubeRay}
}
Document
A Multi-UAV Router and Scheduler for Executing Spatially Scattered Real-Time Tasks
Abstract
Cyber-Physical Systems (CPSs) operating in remote or field scenarios often face limited local processing capacity, necessitating complex real-time monitoring and control via remote processing through mobile edge networks, satellite systems, or UAVs. With recent advancements, UAVs are increasingly being favored for such applications, particularly in isolated areas beyond edge or satellite network coverage. This paper presents a unified UAV scheduling and routing framework for executing geographically distributed real-time CPS tasks under both periodic and aperiodic arrival models. We address the challenge of minimizing the number of UAVs required while ensuring strict adherence to task deadlines across diverse temporal and spatial settings. At first, we propose an efficient heuristic strategy called UAV Scheduling and Routing Algorithm for Real-time Tasks - Periodic Arrivals (USRART-P), which decomposes applications into task instances and sequentially creates per-UAV routes and schedules within a hyperperiod, maximizing the number of task instances each UAV can cover while meeting deadlines. Adapting to this framework, we develop two additional variants to handle aperiodic CPS tasks: USRART-SA for Synchronous Aperiodic Arrivals (common arrival time, distinct deadlines) and USRART-AA for Asynchronous Aperiodic Arrivals (distinct but known arrival times and deadlines). For the case of periodic tasks, we frame the problem as a constraint optimization formulation which aims to minimize the number of UAVs that are required to generate static hyperperiodic travel routes with task execution schedules for all UAVs, and discuss how the formulation can be adapted for aperiodic tasks. Solution to this formulation using standard off-the-shelf solvers achieves optimality but incurs high computational overheads. Through extensive simulations, we show that USRART exhibits high performance across diverse operational scenarios, varying task distributions, execution demands, and spatial layouts. The results emphasize USRART’s flexibility and effectiveness in real-world UAV-based CPS scenarios, especially in environments with limited resources and infrastructure.
Cite as
Sreyashi Mukherjee, Sachin Yadav, Yedla Anil Kumar, and Arnab Sarkar. A Multi-UAV Router and Scheduler for Executing Spatially Scattered Real-Time Tasks. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 4:1-4:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{mukherjee_et_al:LIPIcs.ECRTS.2025.4,
author = {Mukherjee, Sreyashi and Yadav, Sachin and Kumar, Yedla Anil and Sarkar, Arnab},
title = {{A Multi-UAV Router and Scheduler for Executing Spatially Scattered Real-Time Tasks}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {4:1--4:25},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.4},
URN = {urn:nbn:de:0030-drops-235822},
doi = {10.4230/LIPIcs.ECRTS.2025.4},
annote = {Keywords: UAV Scheduling, Task Allocation, Optimization, Execution Time}
}
Document
RESCUE: Multi-Robot Planning Under Resource Uncertainty and Objective Criticality
Abstract
Robot planning in distributed systems, such as drone fleets performing active perception missions, presents complex challenges. These missions require cooperation to achieve objectives like collecting sensor data or capturing images. Multi-robot systems offer significant advantages, including faster execution and increased robustness, as robots can compensate for individual failures. However, resource costs, affected by environmental factors such as wind or terrain, are highly uncertain, impacting battery consumption and overall performance.
Mission objectives are often prioritized by criticality, such as retrieving data from low-battery sensors to prevent data loss. Addressing these priorities requires sophisticated scheduling to navigate high-dimensional state-action spaces. While heuristics are useful for approximating solutions, few approaches extend to multi-robot systems or adequately address cost uncertainty and criticality, particularly during replanning.
The Mixed-Criticality (MC) paradigm, extensively studied in real-time scheduling, provides a framework for handling cost uncertainty by ensuring the completion of high-critical tasks. Despite its potential, the application of MC in distributed systems remains limited.
To address the decision-making challenges faced by distributed robots operating under cost uncertainty and objective criticality, we propose four contributions: a comprehensive model integrating criticality, uncertainty, and robustness; distributed synchronization and replanning mechanisms; the incorporation of mixed-criticality principles into multi-robot systems; and enhanced resilience against robot failures.
We evaluated our solution, named RESCUE, in a simulated scenario and show how it increases the robustness by reducing the oversizing of the system and completing up to 40% more objectives. We found an increase in resilience of the multi-robot system as our solution not only guaranteed the safe return of every non-faulty robot, but also reduced the effects of a faulty robot by up to 14%. We also computed the performance gain compared to using MCTS in a single robot of up to 2.31 for 5 robots.
Cite as
Franco Cordeiro, Samuel Tardieu, and Laurent Pautet. RESCUE: Multi-Robot Planning Under Resource Uncertainty and Objective Criticality. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 5:1-5:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{cordeiro_et_al:LIPIcs.ECRTS.2025.5,
author = {Cordeiro, Franco and Tardieu, Samuel and Pautet, Laurent},
title = {{RESCUE: Multi-Robot Planning Under Resource Uncertainty and Objective Criticality}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {5:1--5:23},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.5},
URN = {urn:nbn:de:0030-drops-235835},
doi = {10.4230/LIPIcs.ECRTS.2025.5},
annote = {Keywords: Multi-Robot Systems, Embedded Systems, Safety/Mixed-Critical Systems, Real-Time Systems, Monte-Carlo Tree Search}
}
Document
Sensor Fusion Desynchronization Attacks
Abstract
Environmental perception and 3D object detection are key factors for advancing autonomous driving and require robust security measures to ensure optimal performance and safety. However, established methods often focus only on protecting the involved data and overlook synchronization and timing aspects, which are equally crucial for ensuring profound system security. For instance, multi-modal sensor fusion techniques for object detection can be affected by input desynchronization resulting from random communication delays or malicious cyber attacks, as these techniques combine various sensor inputs to extract shared features present in their data streams simultaneously. Current research acknowledges the importance of temporal alignment in this context. However, the presented studies typically assume genuine system behavior and neglect the potential threat of malicious attacks, as the suggested solutions lack strategies to prevent intentional data misalignment. Additionally, they do not adequately address how sensor input desynchronization affects fusion performance in depth. This paper investigates how desynchronization attacks impact sensor fusion algorithms for 3D object detection. We evaluate how varying sensor delays affect the detection performance and link our findings to the internal architecture of the sensor fusion algorithms and the influence of specific traffic scenarios and their dynamics. We compiled four datasets covering typical traffic scenarios for our empirical evaluation and tested them on four representative fusion algorithms. Our results show that all evaluated algorithms are vulnerable to input desynchronization, as the performance declines with increasing sensor delays, highlighting the existing lack of resilience to desynchronization attacks. Furthermore, we observe that the Light Detection and Ranging (LiDAR) sensor is significantly more susceptible to delays than the camera. Finally, our experiments indicate that the chosen fusion architecture correlates with the system’s resilience against desynchronization, as our results demonstrate that the early fusion approach provides greater robustness than others.
Cite as
Andreas Finkenzeller, Andrew Roberts, Mauro Bellone, Olaf Maennel, Mohammad Hamad, and Sebastian Steinhorst. Sensor Fusion Desynchronization Attacks. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 6:1-6:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{finkenzeller_et_al:LIPIcs.ECRTS.2025.6,
author = {Finkenzeller, Andreas and Roberts, Andrew and Bellone, Mauro and Maennel, Olaf and Hamad, Mohammad and Steinhorst, Sebastian},
title = {{Sensor Fusion Desynchronization Attacks}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {6:1--6:22},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.6},
URN = {urn:nbn:de:0030-drops-235849},
doi = {10.4230/LIPIcs.ECRTS.2025.6},
annote = {Keywords: Security, Time Synchronization, Sensor Fusion, Autonomous Driving, Delay Attack}
}
Document
Period Assignment for Real-Time Cascade Control Tasks Under Stability and Schedulability Constraints
Abstract
Existing results for cyber-physical systems have been proposed to merge the requirements associated to the stability of the physical components and the schedulability of the cyber components. Nevertheless, none of the existing results has studied these requirements for multiple real-time cascade control tasks where their periods choice are dependent and affect stability. In this paper, we propose a methodology to evaluate the periods of the real-time cascade control tasks that ensures stability of the physical components, then we present a co-design problem for the period choice that guarantees good performance of the physical components and schedulability of the cyber components under fixed-priority scheduling. We then evaluate this methodology on a real use-case of a drone system. Results show the importance of studying these requirements together as their relation has an impact on stable periods range.
Cite as
Ismail Hawila, Liliana Cucu-Grosjean, and Slim Ben Amor. Period Assignment for Real-Time Cascade Control Tasks Under Stability and Schedulability Constraints. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 7:1-7:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{hawila_et_al:LIPIcs.ECRTS.2025.7,
author = {Hawila, Ismail and Cucu-Grosjean, Liliana and Ben Amor, Slim},
title = {{Period Assignment for Real-Time Cascade Control Tasks Under Stability and Schedulability Constraints}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {7:1--7:21},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.7},
URN = {urn:nbn:de:0030-drops-235858},
doi = {10.4230/LIPIcs.ECRTS.2025.7},
annote = {Keywords: Real-time Systems, Cascade Control, Physical Stability, Control Performance}
}
Document
On Real-Time Guarantees in Intel SGX and TDX
Abstract
Trusted execution environments (TEE) represent a major technological breakthrough that provide strong confidentiality and integrity guarantees for code and data running on potentially vulnerable or untrustworthy computing systems, such as cloud, edge, embedded, mobile, or even blockchain systems. However, the performance overhead associated with TEEs still poses a limitation on the extent to which real-time (RT) sensitive applications can benefit from this technology, e.g., to run on untrusted third-party infrastructures. This work investigates various TEE-based architectures spanning from process-based to virtual-machine-based implementations, for securing RT applications. It offers in addition an in-depth evaluation of these architectures, providing insights into how various TEE deployments influence the temporal compute and communication guarantees of RT systems.
Cite as
Peterson Yuhala, Christian Göttel, Jämes Ménétrey, Valerio Schiavoni, David Kozhaya, and Pascal Felber. On Real-Time Guarantees in Intel SGX and TDX. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 8:1-8:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{yuhala_et_al:LIPIcs.ECRTS.2025.8,
author = {Yuhala, Peterson and G\"{o}ttel, Christian and M\'{e}n\'{e}trey, J\"{a}mes and Schiavoni, Valerio and Kozhaya, David and Felber, Pascal},
title = {{On Real-Time Guarantees in Intel SGX and TDX}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {8:1--8:25},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.8},
URN = {urn:nbn:de:0030-drops-235865},
doi = {10.4230/LIPIcs.ECRTS.2025.8},
annote = {Keywords: Trusted execution environments, Real-time systems, Intel SGX, Intel TDX, WebAssembly}
}
Document
DAMA: A Dual Arbitration Mechanism for Mixed-Criticality Applications
Abstract
We discuss hardware resource management in mixed-criticality systems, where requestors may issue latency-critical (LTC) and non-latency-critical (NLTC) requests. LTC requests must adhere to strict latency bounds imposed by safety-critical applications, but timely servicing NLTC requests is necessary to maximize overall system performance in the average case. In this paper, we address this tradeoff for a shared memory resource by proposing DAMA, a dual arbitration mechanism that imposes an upper bound on the cumulative latency of LTC requests without unduly impacting NLTC performance. DAMA comprises a high-performance arbiter, a real-time arbiter, and a mechanism that constantly monitors the cumulative latency of requests suffered by each requestor. DAMA primarily executes in high-performance mode and only switches to real-time mode in the rare instances when its incorporated mechanism detects a violation of a task’s timing guarantee. We demonstrate the effectiveness of our arbitration scheme by adapting a predictable prefetcher that issues NLTC requests and attaching it to the L1 caches of our cores. We show both formally and experimentally that DAMA provides timing guarantees for LTC requests while processing other NLTC requests. We also demonstrate that with a negligible overhead of less than 1.5% on the cumulative latency bound of LTC requests, DAMA can achieve an equivalent average performance to a prefetcher that processes requests under a high-performance arbitration scheme.
Cite as
Wafic Lawand and Rodolfo Pellizzoni. DAMA: A Dual Arbitration Mechanism for Mixed-Criticality Applications. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 9:1-9:24, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{lawand_et_al:LIPIcs.ECRTS.2025.9,
author = {Lawand, Wafic and Pellizzoni, Rodolfo},
title = {{DAMA: A Dual Arbitration Mechanism for Mixed-Criticality Applications}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {9:1--9:24},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.9},
URN = {urn:nbn:de:0030-drops-235875},
doi = {10.4230/LIPIcs.ECRTS.2025.9},
annote = {Keywords: Real-time Systems, Mixed-criticality Applications, Memory controllers, Prefetchers}
}
Document
LoRaHART: Hardware-Aware Real-Time Scheduling for LoRa
Abstract
Time-sensitive data acquisition is critical for many Low-Power Wide-Area Network (LPWAN) applications, such as healthcare monitoring and industrial Internet of Things. Among the available LPWAN technologies, LoRa (Long Range) has emerged as a leading choice, offering kilometer-scale communication with minimal power consumption and enabling high-density deployments across large areas. However, the conventional ALOHA-based Medium Access Control (MAC) in LoRa is not designed to support real-time communication over large-scale networks. This paper introduces LoRaHART, a novel approach that overcomes two critical, under-explored limitations in Commercial Off The Shelf (COTS) LoRa gateways that impact real-time performance. LoRa gateways have limited capacity for demodulation of parallel transmissions and their antenna can either transmit or receive at any time instant. LoRaHART incorporates a hardware-aware super-frame structure, comprising both Time Division Multiple Access (TDMA) slots as well as opportunistic retransmissions using Carrier Sense Multiple Access (CSMA), designed to mitigate the above constraints. We use a partial packing and makespan minimization algorithm to schedule periodic real-time transmissions efficiently within the TDMA slots, and also develop a probabilistic node contention model for CSMA retransmissions, providing analytical guarantees for deadline satisfaction under ideal channel conditions. Our evaluation of LoRaHART on a 40-node LoRa testbed demonstrates significant improvements over existing solutions in practice, achieving an average Packet Reception Ratio of 98% and a 45% higher airtime utilization than the best performing baseline.
Cite as
Soumya Ranjan Sahoo, Amalinda Gamage, Niraj Kumar, and Arvind Easwaran. LoRaHART: Hardware-Aware Real-Time Scheduling for LoRa. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 10:1-10:28, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{sahoo_et_al:LIPIcs.ECRTS.2025.10,
author = {Sahoo, Soumya Ranjan and Gamage, Amalinda and Kumar, Niraj and Easwaran, Arvind},
title = {{LoRaHART: Hardware-Aware Real-Time Scheduling for LoRa}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {10:1--10:28},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.10},
URN = {urn:nbn:de:0030-drops-235880},
doi = {10.4230/LIPIcs.ECRTS.2025.10},
annote = {Keywords: LoRa, LPWAN, Real-time Scheduling, Hardware Constraints}
}
Document
Bounding the WCET of a GPU Thread Block with a Multi-Phase Representation of Warps Execution
Abstract
This paper proposes to model the Worst-Case Execution Time (WCET) of a GPU thread block as the Worst-Case Response Time (WCRT) of the warps composing the block. Inspired by the WCRT analyzes for classical CPU tasks, the response time of a warp is modeled as its execution time in isolation added to an interference term that accounts for the execution of higher priority warps. We provide an algorithm to build a representation of the execution of each warp of a thread block that distinguishes phases of execution on the functional units and phases of idleness due to operations latency. A simple formula relying on this model is then proposed to safely upper bound the WCRT of warps scheduled under greedy policies such as Greedy-Then-Oldest (GTO) or Loose Round-Robin (LRR). We experimented our approach using simulations of kernels from a GPU benchmark suite on the Accel-Sim simulator. We also evaluated the model on a GPU program that is likely to be found in safety critical systems : SGEMM (Single-precision GEneral Matrix Multiplication). This work constitutes a promising first building block of an analysis pipeline for enabling static WCET computation on GPUs.
Cite as
Louison Jeanmougin, Thomas Carle, and Christine Rochange. Bounding the WCET of a GPU Thread Block with a Multi-Phase Representation of Warps Execution. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 11:1-11:26, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{jeanmougin_et_al:LIPIcs.ECRTS.2025.11,
author = {Jeanmougin, Louison and Carle, Thomas and Rochange, Christine},
title = {{Bounding the WCET of a GPU Thread Block with a Multi-Phase Representation of Warps Execution}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {11:1--11:26},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.11},
URN = {urn:nbn:de:0030-drops-235898},
doi = {10.4230/LIPIcs.ECRTS.2025.11},
annote = {Keywords: GPU, WCET analysis}
}
Document
Real-Time System Evaluation Techniques: A Systematic Mapping Study
Abstract
A systematic mapping study assesses a broad selection of research publications with the aim of categorizing them according to a research question. We present the first systematic mapping study on evaluation practices within the field of real-time systems, by analyzing publications from the top three conferences ECRTS, RTAS, and RTSS from 2017 until 2024. Our study provides a comprehensive view on the evaluation practices prevalent in our community, including benchmark software, task set and graph generators, case studies, industrial challenges, and custom solutions.
Based on our study, we construct and publish a dataset enabling quantitative analysis of evaluation practices within the real-time systems community.
Our analysis indicates shortcomings in current practice: custom case studies are abundant, while industrial challenges have very minor impact. Reproducibility has only been shown for a small subset of evaluations and there is no indication of change. Adoption of new and improved tools and benchmarks is very slow or even non-existent.
Evaluation must not be viewed as an obligation when publishing a paper, but as a key element in ensuring practicability, comparability, and reproducibility. Based on our study, we conclude that our community currently falls short on these objectives.
Cite as
Tilmann L. Unte and Sebastian Altmeyer. Real-Time System Evaluation Techniques: A Systematic Mapping Study. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 12:1-12:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{unte_et_al:LIPIcs.ECRTS.2025.12,
author = {Unte, Tilmann L. and Altmeyer, Sebastian},
title = {{Real-Time System Evaluation Techniques: A Systematic Mapping Study}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {12:1--12:21},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.12},
URN = {urn:nbn:de:0030-drops-235903},
doi = {10.4230/LIPIcs.ECRTS.2025.12},
annote = {Keywords: Systematic Mapping Study, Real-Time Systems, Evaluation}
}
Document
Faster Classification of Time-Series Input Streams
Abstract
Deep learning–based classifiers are widely used for perception in autonomous Cyber-Physical Systems (CPS’s). However, such classifiers rarely offer guarantees of perfect accuracy while being optimized for efficiency. To support safety-critical perception, ensembles of multiple different classifiers working in concert are typically used. Since CPS’s interact with the physical world continuously, it is not unreasonable to expect dependencies among successive inputs in a stream of sensor data. Prior work introduced a classification technique that leverages these inter-input dependencies to reduce the average time to successful classification using classifier ensembles. In this paper, we propose generalizations to this classification technique, both in the improved generation of classifier cascades and the modeling of temporal dependencies. We demonstrate, through theoretical analysis and numerical evaluation, that our approach achieves further reductions in average classification latency compared to the prior methods.
Cite as
Kunal Agrawal, Sanjoy Baruah, Zhishan Guo, Jing Li, Federico Reghenzani, Kecheng Yang, and Jinhao Zhao. Faster Classification of Time-Series Input Streams. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 13:1-13:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{agrawal_et_al:LIPIcs.ECRTS.2025.13,
author = {Agrawal, Kunal and Baruah, Sanjoy and Guo, Zhishan and Li, Jing and Reghenzani, Federico and Yang, Kecheng and Zhao, Jinhao},
title = {{Faster Classification of Time-Series Input Streams}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {13:1--13:22},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.13},
URN = {urn:nbn:de:0030-drops-235919},
doi = {10.4230/LIPIcs.ECRTS.2025.13},
annote = {Keywords: Classification, Deep Learning, Sensor data streams, IDK classifiers}
}
Document
Task-To-Processor Assignment for Real-Time Mixed-Critical Networked Systems Using Inductive Logic Programming
Abstract
Task-to-processor assignment is an essential aspect of configuring real-time, distributed systems, since an improper assignment can adversely affect latency. Model-based, heuristic, and data-driven approaches have been proposed to solve the task-to-processor assignment problem. However, model-based and heuristic approaches require revision if the system changes, and data-driven approaches require training on a lot of data and setting nonintuitive hyper-parameters.
We explore a hybrid approach which takes both a system description and data: we use inductive logic programming in an active learning algorithm to search for assignments which satisfy a real-time requirement. By using both domain knowledge and data, the system finds solutions quickly, and changes are not required when using the tool on different systems. Furthermore, the output is a human-readable description of a set of predicted satisfactory assignments. Readable solution sets are useful for analyzing the system, since we can easily compare solution sets across different setups.
We evaluate our approach on real systems with mixed-critical network flows. We show that task-to-processor assignment can significantly influence latency by comparing optimal fixed assignments to the default Linux scheduler. We show that our approach finds assignments that are within 10% of optimal with up to 10× fewer system tests, compared to random search. Our algorithm also performs favorably to load balancing and neural network baselines.
Cite as
Marcus Gualtieri, Christian Juette, and Dakshina Dasari. Task-To-Processor Assignment for Real-Time Mixed-Critical Networked Systems Using Inductive Logic Programming. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 14:1-14:26, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{gualtieri_et_al:LIPIcs.ECRTS.2025.14,
author = {Gualtieri, Marcus and Juette, Christian and Dasari, Dakshina},
title = {{Task-To-Processor Assignment for Real-Time Mixed-Critical Networked Systems Using Inductive Logic Programming}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {14:1--14:26},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.14},
URN = {urn:nbn:de:0030-drops-235925},
doi = {10.4230/LIPIcs.ECRTS.2025.14},
annote = {Keywords: Real-Time Distributed Systems, Auto-Configuration, Task-to-Processor Mapping, Inductive Logic Programming, Active Learning}
}
Document
Analysis of EDF for Real-Time Multiprocessor Systems with Resource Sharing
Abstract
The classic Earliest Deadline First (EDF) algorithm is widely studied and used due to its simplicity and strong theoretical performance, but has not been rigorously analyzed for systems where jobs may execute critical sections protected by shared locks. Analyzing such systems is often challenging due to unpredictable delays caused by contention. In this paper, we propose a straightforward generalization of EDF, called EDF-Block. In this generalization, the critical sections are executed non-preemptively, but scheduling and lock acquisition priorities are based on EDF. We establish lower bounds on the speed augmentation required for any non-clairvoyant scheduler (EDF-Block is an example of non-clairvoyant schedulers) and for EDF-Block, showing that EDF-Block requires at least 4.11× speed augmentation for jobs and 4× for tasks. We then provide an upper bound analysis, demonstrating that EDF-Block requires speedup of at most 6 to schedule all feasible job and task sets.
Cite as
Kunal Agrawal, Sanjoy Baruah, Jeremy T. Fineman, Alberto Marchetti-Spaccamela, and Jinhao Zhao. Analysis of EDF for Real-Time Multiprocessor Systems with Resource Sharing. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 15:1-15:26, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{agrawal_et_al:LIPIcs.ECRTS.2025.15,
author = {Agrawal, Kunal and Baruah, Sanjoy and Fineman, Jeremy T. and Marchetti-Spaccamela, Alberto and Zhao, Jinhao},
title = {{Analysis of EDF for Real-Time Multiprocessor Systems with Resource Sharing}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {15:1--15:26},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.15},
URN = {urn:nbn:de:0030-drops-235932},
doi = {10.4230/LIPIcs.ECRTS.2025.15},
annote = {Keywords: Real-Time Scheduling, Non-Clairvoyant Scheduling, EDF, Competitive Analysis, Shared Resources}
}
Document
Formal Comparison of Outgoing Event Streams Between Compositional Performance Analysis and Real-Time Calculus
Abstract
Real-time systems are required to produce correct responses which also need to be on time. Two methods to verify the timeliness of the results are the compositional performance analysis and the real-time calculus. Both methods use bounds as inputs from which they derive bounds for the timeliness. Therefore, it is preferable to have better bounds for the inputs. Any of these bounds may contain pessimism. Because both methods use a modular/compositional approach for distributed real-time systems, the pessimism in the bounds accumulate. Therefore, it is desirable to keep the pessimism as low as possible. In this work we investigate distributed real-time systems where tasks have an activation dependency, i. e., the activation of one task depends on the termination of a job of another task. Specifically, we compare the derived bound of how frequent the jobs of a task terminate and subsequently how frequent the activation dependent task activates and releases its jobs.
Our contribution is a formal comparison of these bounds that the compositional performance analysis and the real-time calculus derive by means of a mathematical proof. We show that for identical inputs the real-time calculus derives a bound that is not worse than the bound that the compositional performance analysis derives for a single module/component. The mathematical proof also removes any uncertainty that existing empirical comparisons of these bounds may contain.
Cite as
Victor Pollex and Frank Slomka. Formal Comparison of Outgoing Event Streams Between Compositional Performance Analysis and Real-Time Calculus. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 16:1-16:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{pollex_et_al:LIPIcs.ECRTS.2025.16,
author = {Pollex, Victor and Slomka, Frank},
title = {{Formal Comparison of Outgoing Event Streams Between Compositional Performance Analysis and Real-Time Calculus}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {16:1--16:25},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.16},
URN = {urn:nbn:de:0030-drops-235945},
doi = {10.4230/LIPIcs.ECRTS.2025.16},
annote = {Keywords: compositional performance analysis, real-time calculus, outgoing event streams}
}
Document
Theoretical Foundations of Utility Accrual for Real-Time Systems
Abstract
Providing guaranteed quantification of properties of soft real-time systems is important in practice to ensure that a system performs correctly most of the time. We study utility accrual for real-time systems, in which the utility of a real-time job is defined as a time utility function with respect to its response time. Essentially, we answer the fundamental questions: Does the utility accrual of a periodic real-time task in the long run converge to a single value? If yes, to which value?
We first show that concrete problem instances exist where evaluating the utility accrual by simulating the scheduling algorithm or conducting scheduling experiments in a long run is erroneous. Afterwards, we show how to construct a Markov chain to model the interactions between the scheduling policy, the probabilistic workload of a periodic real-time task, the service provided by the system to serve the task, and the effect on the utility accrual. For such a Markov chain, we also provide the theoretical fundamentals to determine whether the utility accrual converges in the long run and the derivation of the utility accrual if it converges.
Cite as
Jian-Jia Chen, Junjie Shi, Mario Günzel, Georg von der Brüggen, Kuan-Hsun Chen, and Peter Bella. Theoretical Foundations of Utility Accrual for Real-Time Systems. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 17:1-17:26, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{chen_et_al:LIPIcs.ECRTS.2025.17,
author = {Chen, Jian-Jia and Shi, Junjie and G\"{u}nzel, Mario and von der Br\"{u}ggen, Georg and Chen, Kuan-Hsun and Bella, Peter},
title = {{Theoretical Foundations of Utility Accrual for Real-Time Systems}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {17:1--17:26},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.17},
URN = {urn:nbn:de:0030-drops-235950},
doi = {10.4230/LIPIcs.ECRTS.2025.17},
annote = {Keywords: Soft Real-Time Systems, Utility Accrual, Markov Chains, Dismiss Points}
}
Document
Per-Flow Performance Guarantees in Networked Systems with Complex Feedback Structures
Abstract
Many modern networked real-time systems encompass complex feedback structures and require stringent timing guarantees, especially bounds on the network delay. Network Calculus (NC) is a versatile methodology to compute such performance guarantees per individual flow; in particular, some fundamental results on how to deal with feedback exist. Yet, these are restricted to simple feedback structures and are mostly constrained to an analysis at the aggregate level (not per flow). In our work, we analyze more complex feedback structures than previously investigated by reducing them to canonical structures. We transform these closed-loop systems (with feedback) into open-loop systems (without feedback) and, subsequently, perform a per-flow analysis exploiting very recent NC results on per-flow performance guarantees. In a numerical experiment, we compare our new method to the current state-of-the-art which only allows for an aggregate FIFO analysis. We also compute how feedback constraints need to be allocated to ensure that a feedback system provides the same service as the system without feedback, in a sense providing for an optimal control. Furthermore, we compare different allocation strategies under a fixed budget for the feedback constraints.
Cite as
Anja Hamscher, Lukas Wildberger, and Jens Schmitt. Per-Flow Performance Guarantees in Networked Systems with Complex Feedback Structures. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 18:1-18:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{hamscher_et_al:LIPIcs.ECRTS.2025.18,
author = {Hamscher, Anja and Wildberger, Lukas and Schmitt, Jens},
title = {{Per-Flow Performance Guarantees in Networked Systems with Complex Feedback Structures}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {18:1--18:25},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.18},
URN = {urn:nbn:de:0030-drops-235961},
doi = {10.4230/LIPIcs.ECRTS.2025.18},
annote = {Keywords: Real-Time Networks, Network Calculus, Feedback Control}
}
Document
Revisiting Timing Anomalies in Predictable In-Order Pipelines
Abstract
The quality of timing guarantees ensured through worst-case-execution time analysis and schedulability tests - required to be both sound and precise - is directly influenced by the predictability properties of the execution platform. A platform is considered predictable when safe and precise bounds can be computed through analysis tools. Counter-intuitive and Amplification Timing Anomalies (TAs) are detrimental to predictability and thus may make it much harder/impossible to compute such bounds. In order to address this issue, research has followed two orthogonal approaches, (i) designing predictable execution platforms and (ii) characterizing counter-intuitive TAs through formal definitions. However, predictable designs rarely apply any formal definitions of timing anomalies.
This paper aims at investigating precisely this relationship. We first show how a previously proposed definition of counter-intuitive TAs can be applied to the predictable in-order processor SIC. We then extend this approach in order to provide the first formal definition of both counter-intuitive and amplification effects. The proposed definitions are then evaluated on a regular in-order processor as well as the predictable SIC core using a systematic approach that allows to assess their applicability and relevance. Finally, we prove, for the first time, the absence of some, but not all, TA effects in SIC.
Cite as
Lilia Rouizi, Mihail Asavoae, Benjamin Binder, Lionel Rieg, and Florian Brandner. Revisiting Timing Anomalies in Predictable In-Order Pipelines. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 19:1-19:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{rouizi_et_al:LIPIcs.ECRTS.2025.19,
author = {Rouizi, Lilia and Asavoae, Mihail and Binder, Benjamin and Rieg, Lionel and Brandner, Florian},
title = {{Revisiting Timing Anomalies in Predictable In-Order Pipelines}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {19:1--19:22},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.19},
URN = {urn:nbn:de:0030-drops-235974},
doi = {10.4230/LIPIcs.ECRTS.2025.19},
annote = {Keywords: Timing Anomalies, Causality, Timing Predictability, Timing Analysis}
}
Document
Detecting Low-Density Mixtures in High-Quantile Tails for pWCET Estimation
Abstract
The variability arising from sophisticated hardware and software solutions in cutting-edge embedded products causes software to exhibit complex execution time distributions. Mixture distributions can happen, with different density (weight), as a result of inherent different features in the execution platform and multiple operational scenarios. In the context of probabilistic WCET (pWCET) analysis based on Extreme Value Theory (EVT), where identical distribution is a pre-requisite, mixtures are typically intercepted by applying stationarity tests on the full sample. Those tests, however, are instructed to detect only mixtures with sufficiently high probability (weight) and disregard low-density mixtures (which are unlikely to be preserved in the high-quantile tail of the sample) as they would prevent any form of stationarity. Nonetheless, low-density mixture distributions can persist and even exacerbate in the tail, and, when not considered, they can impair pWCET estimation in EVT-based approaches, leading to overly pessimistic or optimistic bounds. In this work, we propose TailID, an iterative point-wise approach that builds on the asymptotic convergence of the Maximum Likelihood Estimator (MLE) of the Extreme Value Index (EVI) parameter ξ to detect low-density mixture distributions on high-quantile tails and use this information to steer EVT tail selection. The benefits of the proposed method are assessed on synthetic mixture distributions and real data collected on an industrially representative embedded platform.
Cite as
Blau Manau, Sergi Vilardell, Isabel Serra, Enrico Mezzetti, Jaume Abella, and Francisco J. Cazorla. Detecting Low-Density Mixtures in High-Quantile Tails for pWCET Estimation. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 20:1-20:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{manau_et_al:LIPIcs.ECRTS.2025.20,
author = {Manau, Blau and Vilardell, Sergi and Serra, Isabel and Mezzetti, Enrico and Abella, Jaume and Cazorla, Francisco J.},
title = {{Detecting Low-Density Mixtures in High-Quantile Tails for pWCET Estimation}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {20:1--20:25},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.20},
URN = {urn:nbn:de:0030-drops-235982},
doi = {10.4230/LIPIcs.ECRTS.2025.20},
annote = {Keywords: WCET, EVT}
}
Document
Hardware Compute Partitioning on NVIDIA GPUs for Composable Systems
Abstract
As GPU-using tasks become more common in embedded, safety-critical systems, efficiency demands necessitate sharing a single GPU among multiple tasks. Unfortunately, existing ways to schedule multiple tasks onto a GPU often either result in a loss of ability to meet deadlines, or a loss of efficiency. In this work, we develop a system-level spatial compute partitioning mechanism for NVIDIA GPUs and demonstrate that it can be used to execute tasks efficiently without compromising timing predictability. Our tool, called nvtaskset, supports composable systems by not requiring task, driver, or hardware modifications. In our evaluation, we demonstrate sub-1-μs overheads, stronger partition enforcement, and finer-granularity partitioning when using our mechanism instead of NVIDIA’s Multi-Process Service (MPS) or Multi-instance GPU (MiG) features.
Cite as
Joshua Bakita and James H. Anderson. Hardware Compute Partitioning on NVIDIA GPUs for Composable Systems. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 21:1-21:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{bakita_et_al:LIPIcs.ECRTS.2025.21,
author = {Bakita, Joshua and Anderson, James H.},
title = {{Hardware Compute Partitioning on NVIDIA GPUs for Composable Systems}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {21:1--21:25},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.21},
URN = {urn:nbn:de:0030-drops-235998},
doi = {10.4230/LIPIcs.ECRTS.2025.21},
annote = {Keywords: Real-time systems, composable systems, graphics processing units, CUDA}
}
Document
Industrial Challenge Description
Embedded Reconfiguration of TSN (Industrial Challenge Description)
Abstract
The sets of Ethernet extensions known as "Time Sensitive Networking" (TSN) is a promising candidate as the next backbone of real-time distributed systems. The flexibility of TSN is also an opportunity to reconfigure the network in presence of faults.
This white paper presents an avionic case study for a TSN reconfiguration.
Cite as
Marc Boyer and Rafik Henia. Embedded Reconfiguration of TSN (Industrial Challenge Description). In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 22:1-22:11, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)
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@InProceedings{boyer_et_al:LIPIcs.ECRTS.2025.22,
author = {Boyer, Marc and Henia, Rafik},
title = {{Embedded Reconfiguration of TSN}},
booktitle = {37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
pages = {22:1--22:11},
series = {Leibniz International Proceedings in Informatics (LIPIcs)},
ISBN = {978-3-95977-377-5},
ISSN = {1868-8969},
year = {2025},
volume = {335},
editor = {Mancuso, Renato},
publisher = {Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
address = {Dagstuhl, Germany},
URL = {https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.22},
URN = {urn:nbn:de:0030-drops-237709},
doi = {10.4230/LIPIcs.ECRTS.2025.22},
annote = {Keywords: Real-time network, Time Sensitive Networks, TSN, Time Aware Shaper, TAS, Credit Based Shaper, CBS, Reconfiguration}
}