3 Search Results for "Suchert, Felix"

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.ECOOP.2023.33
ConDRust: Scalable Deterministic Concurrency from Verifiable Rust Programs

Authors: Felix Suchert, Lisza Zeidler, Jeronimo Castrillon, and Sebastian Ertel

Published in: LIPIcs, Volume 263, 37th European Conference on Object-Oriented Programming (ECOOP 2023)

Abstract
SAT/SMT-solvers and model checkers automate formal verification of sequential programs. Formal reasoning about scalable concurrent programs is still manual and requires expert knowledge. But scalability is a fundamental requirement of current and future programs. Sequential imperative programs compose statements, function/method calls and control flow constructs. Concurrent programming models provide constructs for concurrent composition. Concurrency abstractions such as threads and synchronization primitives such as locks compose the individual parts of a concurrent program that are meant to execute in parallel. We propose to rather compose the individual parts again using sequential composition and compile this sequential composition into a concurrent one. The developer can use existing tools to formally verify the sequential program while the translated concurrent program provides the dearly requested scalability. Following this insight, we present ConDRust, a new programming model and compiler for Rust programs. The ConDRust compiler translates sequential composition into a concurrent composition based on threads and message-passing channels. During compilation, the compiler preserves the semantics of the sequential program along with much desired properties such as determinism. Our evaluation shows that our ConDRust compiler generates concurrent deterministic code that can outperform even non-deterministic programs by up to a factor of three for irregular algorithms that are particularly hard to parallelize.
Cite as

Felix Suchert, Lisza Zeidler, Jeronimo Castrillon, and Sebastian Ertel. ConDRust: Scalable Deterministic Concurrency from Verifiable Rust Programs. In 37th European Conference on Object-Oriented Programming (ECOOP 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 263, pp. 33:1-33:39, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@InProceedings{suchert_et_al:LIPIcs.ECOOP.2023.33,
  author =	{Suchert, Felix and Zeidler, Lisza and Castrillon, Jeronimo and Ertel, Sebastian},
  title =	{{ConDRust: Scalable Deterministic Concurrency from Verifiable Rust Programs}},
  booktitle =	{37th European Conference on Object-Oriented Programming (ECOOP 2023)},
  pages =	{33:1--33:39},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-281-5},
  ISSN =	{1868-8969},
  year =	{2023},
  volume =	{263},
  editor =	{Ali, Karim and Salvaneschi, Guido},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECOOP.2023.33},
  URN =		{urn:nbn:de:0030-drops-182263},
  doi =		{10.4230/LIPIcs.ECOOP.2023.33},
  annote =	{Keywords: concurrent programming, verification, scalability}
}
Document
Artifact
DOI: 10.4230/DARTS.9.2.16
ConDRust: Scalable Deterministic Concurrency from Verifiable Rust Programs (Artifact)

Authors: Felix Suchert, Lisza Zeidler, Jeronimo Castrillon, and Sebastian Ertel

Published in: DARTS, Volume 9, Issue 2, Special Issue of the 37th European Conference on Object-Oriented Programming (ECOOP 2023)

Abstract
SAT/SMT-solvers and model checkers automate formal verification of sequential programs. Formal reasoning about scalable concurrent programs is still manual and requires expert knowledge. But scalability is a fundamental requirement of current and future programs. Sequential imperative programs compose statements, function/method calls and control flow constructs. Concurrent programming models provide constructs for concurrent composition. Concurrency abstractions such as threads and synchronization primitives such as locks compose the individual parts of a concurrent program that are meant to execute in parallel. We propose to rather compose the individual parts again using sequential composition and compile this sequential composition into a concurrent one. The developer can use existing tools to formally verify the sequential program while the translated concurrent program provides the dearly requested scalability. Following this insight, we present ConDRust, a new programming model and compiler for Rust programs. The ConDRust compiler translates sequential composition into a concurrent composition based on threads and message-passing channels. During compilation, the compiler preserves the semantics of the sequential program along with much desired properties such as determinism. Our evaluation shows that our ConDRust compiler generates concurrent deterministic code that can outperform even non-deterministic programs by up to a factor of three for irregular algorithms that are particularly hard to parallelize.
Cite as

Felix Suchert, Lisza Zeidler, Jeronimo Castrillon, and Sebastian Ertel. ConDRust: Scalable Deterministic Concurrency from Verifiable Rust Programs (Artifact). In Special Issue of the 37th European Conference on Object-Oriented Programming (ECOOP 2023). Dagstuhl Artifacts Series (DARTS), Volume 9, Issue 2, pp. 16:1-16:3, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{suchert_et_al:DARTS.9.2.16,
  author =	{Suchert, Felix and Zeidler, Lisza and Castrillon, Jeronimo and Ertel, Sebastian},
  title =	{{ConDRust: Scalable Deterministic Concurrency from Verifiable Rust Programs (Artifact)}},
  pages =	{16:1--16:3},
  journal =	{Dagstuhl Artifacts Series},
  ISSN =	{2509-8195},
  year =	{2023},
  volume =	{9},
  number =	{2},
  editor =	{Suchert, Felix and Zeidler, Lisza and Castrillon, Jeronimo and Ertel, Sebastian},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DARTS.9.2.16},
  URN =		{urn:nbn:de:0030-drops-182562},
  doi =		{10.4230/DARTS.9.2.16},
  annote =	{Keywords: concurrent programming, verification, scalability}
}
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