5 Search Results for "Menard, Daniel"

Document
DOI: 10.4230/LITES.11.1.1
A Survey of Real-Time Support, Analysis, and Advancements in ROS 2

Authors: Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper

Published in: LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1

Abstract
The Robot Operating System 2 (ROS 2) has emerged as a relevant middleware framework for robotic applications, offering modularity, distributed execution, and communication. In the last six years, ROS 2 has drawn increasing attention from the real-time systems community and industry. This survey presents a comprehensive overview of research efforts that analyze, enhance, and extend ROS 2 to support real-time execution. We first provide a detailed description of the internal scheduling mechanisms of ROS 2 and its layered architecture, including the interaction with DDS-based communication and other communication middleware. We then review key contributions from the literature, covering timing analysis for both single- and multi-threaded executors, metrics such as response time, reaction time, and data age, and different communication modes. The survey also discusses community-driven enhancements to the ROS 2 runtime, including new executor algorithm designs, real-time GPU management, and microcontroller support via micro-ROS. Furthermore, we summarize techniques for bounding DDS communication delays, message filters, and profiling tools that have been developed to support analysis and experimentation. To help systematize this growing body of work, we introduce taxonomies that classify the surveyed contributions based on different criteria. This survey aims to guide both researchers and practitioners in understanding and improving the real-time capabilities of ROS 2.
Cite as

Daniel Casini, Jian-Jia Chen, Jing Li, Federico Reghenzani, and Harun Teper. A Survey of Real-Time Support, Analysis, and Advancements in ROS 2. In LITES, Volume 11, Issue 1 (2026). Leibniz Transactions on Embedded Systems, Volume 11, Issue 1, pp. 1:1-1:37, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@Article{casini_et_al:LITES.11.1.1,
  author =	{Casini, Daniel and Chen, Jian-Jia and Li, Jing and Reghenzani, Federico and Teper, Harun},
  title =	{{A Survey of Real-Time Support, Analysis, and Advancements in ROS 2}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{1:1--1:37},
  ISSN =	{2199-2002},
  year =	{2026},
  volume =	{11},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.11.1.1},
  URN =		{urn:nbn:de:0030-drops-257914},
  doi =		{10.4230/LITES.11.1.1},
  annote =	{Keywords: ROS 2, middleware, real-time, timing predictability, publish-subscribe}
}
Document
DOI: 10.4230/LIPIcs.ITCS.2026.94
Smoothed Analysis of Online Metric Matching with a Single Sample: Beyond Metric Distortion

Authors: Yingxi Li, Ellen Vitercik, and Mingwei Yang

Published in: LIPIcs, Volume 362, 17th Innovations in Theoretical Computer Science Conference (ITCS 2026)

Abstract
In the online metric matching problem, n servers and n requests lie in a metric space. Servers are available upfront, and requests arrive sequentially. An arriving request must be matched immediately and irrevocably to an available server, incurring a cost equal to their distance. The goal is to minimize the total matching cost. We study this problem in [0, 1]^d with the Euclidean metric, when servers are adversarial and requests are independently drawn from distinct distributions that satisfy a mild smoothness condition. Our main result is an O(1)-competitive algorithm for d ≠ 2 that requires no distributional knowledge, relying only on a single sample from each request distribution. To our knowledge, this is the first algorithm to achieve an o(log n) competitive ratio for non-trivial metrics beyond the i.i.d. setting. Our approach bypasses the Ω(log n) barrier introduced by probabilistic metric embeddings: instead of analyzing the embedding distortion and the algorithm separately, we directly bound the cost of the algorithm on the target metric space of a simple deterministic embedding. We then combine this analysis with lower bounds on the offline optimum for Euclidean metrics, derived via majorization arguments, to obtain our guarantees.
Cite as

Yingxi Li, Ellen Vitercik, and Mingwei Yang. Smoothed Analysis of Online Metric Matching with a Single Sample: Beyond Metric Distortion. In 17th Innovations in Theoretical Computer Science Conference (ITCS 2026). Leibniz International Proceedings in Informatics (LIPIcs), Volume 362, pp. 94:1-94:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{li_et_al:LIPIcs.ITCS.2026.94,
  author =	{Li, Yingxi and Vitercik, Ellen and Yang, Mingwei},
  title =	{{Smoothed Analysis of Online Metric Matching with a Single Sample: Beyond Metric Distortion}},
  booktitle =	{17th Innovations in Theoretical Computer Science Conference (ITCS 2026)},
  pages =	{94:1--94:23},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-410-9},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{362},
  editor =	{Saraf, Shubhangi},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2026.94},
  URN =		{urn:nbn:de:0030-drops-253815},
  doi =		{10.4230/LIPIcs.ITCS.2026.94},
  annote =	{Keywords: Online algorithm, Metric matching, Competitive analysis, Smoothed analysis}
}
Document
DOI: 10.4230/LITES.10.1.2
Towards a Coq-verified Chain of Esterel Semantics

Authors: Lionel Rieg and Gérard Berry

Published in: LITES, Volume 10, Issue 1 (2025). Leibniz Transactions on Embedded Systems, Volume 10, Issue 1

Abstract
This article focuses on formally specifying and verifying the chain of formal semantics of the Esterel synchronous programming language using the Coq proof assistant. In particular, in addition to the standard logical (LBS) semantics, constructive semantics (CBS) and constructive state semantics (CSS), we introduce a novel microstep semantics that gets rid of the Must/Can potential function pair of the constructive semantics and can be viewed as an abstract version of Esterel’s circuit semantics used by compilers to generate software code and hardware designs. The article also comes with formal proofs in Coq of the equivalence between the CBS and CSS semantics and of the refinement of the CSS by the microstep semantics, except for the loop construct of Esterel.
Cite as

Lionel Rieg and Gérard Berry. Towards a Coq-verified Chain of Esterel Semantics. In LITES, Volume 10, Issue 1 (2025). Leibniz Transactions on Embedded Systems, Volume 10, Issue 1, pp. 2:1-2:54, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@Article{rieg_et_al:LITES.10.1.2,
  author =	{Rieg, Lionel and Berry, G\'{e}rard},
  title =	{{Towards a Coq-verified Chain of Esterel Semantics}},
  journal =	{Leibniz Transactions on Embedded Systems},
  pages =	{2:1--2:54},
  ISSN =	{2199-2002},
  year =	{2025},
  volume =	{10},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LITES.10.1.2},
  URN =		{urn:nbn:de:0030-drops-230144},
  doi =		{10.4230/LITES.10.1.2},
  annote =	{Keywords: Esterel programming language, formal verification, Coq proof assistant}
}
Document
DOI: 10.4230/OASIcs.NG-RES.2025.1
Programming Time-Predictable Processors with Lingua Franca

Authors: Magnus Mæhlum, Erling Rennemo Jellum, Shaokai Lin, Marten Lohstroh, Martin Schoeberl, Sverre Hendseth, and Edward A. Lee

Published in: OASIcs, Volume 128, Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)

Abstract
Precision-timed (PRET) machines are an alternative to modern processors that provide precise control over the timing of software execution. This paper describes a platform for developing predictable real-time embedded systems that pair PRET machines with Lingua Franca (LF), a recent reactor-based coordination language with temporal semantics. Specifically, we port LF to FlexPRET, a PRET machine with flexible hardware thread scheduling. We evaluate single-threaded LF with a tight control loop style application on four embedded platforms, including the FlexPRET. The results reveal the underlying platform’s timing variability and how LF plus FlexPRET can remedy this timing variability. Finally, we compare single-threaded to multithreaded LF, again concerning timing. The four embedded platforms used are FlexPRET (bare-metal), RP2040 (bare-metal), nRF52 (with Zephyr), and Raspberry Pi 3b+ (with Linux). Our results indicate that FlexPRET with LF is attractive when precise timing is essential.
Cite as

Magnus Mæhlum, Erling Rennemo Jellum, Shaokai Lin, Marten Lohstroh, Martin Schoeberl, Sverre Hendseth, and Edward A. Lee. Programming Time-Predictable Processors with Lingua Franca. In Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025). Open Access Series in Informatics (OASIcs), Volume 128, pp. 1:1-1:13, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{maehlum_et_al:OASIcs.NG-RES.2025.1,
  author =	{M{\ae}hlum, Magnus and Jellum, Erling Rennemo and Lin, Shaokai and Lohstroh, Marten and Schoeberl, Martin and Hendseth, Sverre and Lee, Edward A.},
  title =	{{Programming Time-Predictable Processors with Lingua Franca}},
  booktitle =	{Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)},
  pages =	{1:1--1:13},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-366-9},
  ISSN =	{2190-6807},
  year =	{2025},
  volume =	{128},
  editor =	{Yomsi, Patrick Meumeu and Wildermann, Stefan},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2025.1},
  URN =		{urn:nbn:de:0030-drops-229876},
  doi =		{10.4230/OASIcs.NG-RES.2025.1},
  annote =	{Keywords: Real-time systems, time-predictable architecture, embedded system, coordination language}
}
Document
DOI: 10.4230/OASIcs.PARMA-DITAM.2022.4
Energy-Aware HEVC Software Decoding On Mobile Heterogeneous Multi-Cores Architectures

Authors: Mohammed Bey Ahmed Khernache, Jalil Boukhobza, Yahia Benmoussa, and Daniel Menard

Published in: OASIcs, Volume 100, 13th Workshop on Parallel Programming and Run-Time Management Techniques for Many-Core Architectures and 11th Workshop on Design Tools and Architectures for Multicore Embedded Computing Platforms (PARMA-DITAM 2022)

Abstract
Video content is becoming increasingly omnipresent on mobile platforms thanks to advances in mobile heterogeneous architectures. These platforms typically include limited rechargeable batteries which do not improve as fast as video content. Most state-of-the-art studies proposed solutions based on parallelism to exploit the GPP heterogeneity and DVFS to scale up/down the GPP frequency based on the video workload. However, some studies assume to have information about the workload before to start decoding. Others do not exploit the asymmetry character of recent mobile architectures. To address these two challenges, we propose a solution based on classification and frequency scaling. First, a model to classify frames based on their type and size is built during design-time. Second, this model is applied for each frame to decide which GPP cores will decode it. Third, the frequency of the chosen GPP cores is dynamically adjusted based on the output buffer size. Experiments on real-world mobile platforms show that the proposed solution can save more than 20% of energy (mJ/Frame) compared to the Ondemand Linux governor with less than 5% of miss-rate. Moreover, it needs less than one second of decoding to enter the stable state and the overhead represents less than 1% of the frame decoding time.
Cite as

Mohammed Bey Ahmed Khernache, Jalil Boukhobza, Yahia Benmoussa, and Daniel Menard. Energy-Aware HEVC Software Decoding On Mobile Heterogeneous Multi-Cores Architectures. In 13th Workshop on Parallel Programming and Run-Time Management Techniques for Many-Core Architectures and 11th Workshop on Design Tools and Architectures for Multicore Embedded Computing Platforms (PARMA-DITAM 2022). Open Access Series in Informatics (OASIcs), Volume 100, pp. 4:1-4:13, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022)

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@InProceedings{beyahmedkhernache_et_al:OASIcs.PARMA-DITAM.2022.4,
  author =	{Bey Ahmed Khernache, Mohammed and Boukhobza, Jalil and Benmoussa, Yahia and Menard, Daniel},
  title =	{{Energy-Aware HEVC Software Decoding On Mobile Heterogeneous Multi-Cores Architectures}},
  booktitle =	{13th Workshop on Parallel Programming and Run-Time Management Techniques for Many-Core Architectures and 11th Workshop on Design Tools and Architectures for Multicore Embedded Computing Platforms (PARMA-DITAM 2022)},
  pages =	{4:1--4:13},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-231-0},
  ISSN =	{2190-6807},
  year =	{2022},
  volume =	{100},
  editor =	{Palumbo, Francesca and Bispo, Jo\~{a}o and Cherubin, Stefano},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.PARMA-DITAM.2022.4},
  URN =		{urn:nbn:de:0030-drops-161206},
  doi =		{10.4230/OASIcs.PARMA-DITAM.2022.4},
  annote =	{Keywords: energy consumption, mobile platform, heterogeneous architecture, software video decoding, hardware video decoding, HEVC}
}
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