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Documents authored by Blaß, Tobias

Document
Artifact
DOI: 10.4230/DARTS.5.1.5
Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling (Artifact)

Authors: Daniel Casini, Tobias Blaß, Ingo Lütkebohle, and Björn B. Brandenburg

Published in: DARTS, Volume 5, Issue 1, Special Issue of the 31st Euromicro Conference on Real-Time Systems (ECRTS 2019)

Abstract
This artifact provides the means to validate and reproduce the results of the associated paper "Response-Time Analysis of ROS 2 Processing Chains under Reservation-Based Scheduling." It consists of two independent components. First, it contains a model validation component that validates the paper’s claims about the ROS 2 executor’s callback scheduling. Second, it contains the source code for the paper’s case study, i.e., an implementation of the proposed response-time analysis and a model of the move_base navigation stack.
Cite as

Daniel Casini, Tobias Blaß, Ingo Lütkebohle, and Björn B. Brandenburg. Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling (Artifact). In Special Issue of the 31st Euromicro Conference on Real-Time Systems (ECRTS 2019). Dagstuhl Artifacts Series (DARTS), Volume 5, Issue 1, pp. 5:1-5:2, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@Article{casini_et_al:DARTS.5.1.5,
  author =	{Casini, Daniel and Bla{\ss}, Tobias and L\"{u}tkebohle, Ingo and Brandenburg, Bj\"{o}rn B.},
  title =	{{Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling}},
  pages =	{5:1--5:2},
  journal =	{Dagstuhl Artifacts Series},
  ISSN =	{2509-8195},
  year =	{2019},
  volume =	{5},
  number =	{1},
  editor =	{Casini, Daniel and Bla{\ss}, Tobias and L\"{u}tkebohle, Ingo and Brandenburg, Bj\"{o}rn B.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DARTS.5.1.5},
  URN =		{urn:nbn:de:0030-drops-107330},
  doi =		{10.4230/DARTS.5.1.5},
  annote =	{Keywords: ROS, real-time systems, response-time analysis, robotics, resource reservation}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2019.6
Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling

Authors: Daniel Casini, Tobias Blaß, Ingo Lütkebohle, and Björn B. Brandenburg

Published in: LIPIcs, Volume 133, 31st Euromicro Conference on Real-Time Systems (ECRTS 2019)

Abstract
Bounding the end-to-end latency of processing chains in distributed real-time systems is a well-studied problem, relevant in multiple industrial fields, such as automotive systems and robotics. Nonetheless, to date, only little attention has been given to the study of the impact that specific frameworks and implementation choices have on real-time performance. This paper proposes a scheduling model and a response-time analysis for ROS 2 (specifically, version "Crystal Clemmys" released in December 2018), a popular framework for the rapid prototyping, development, and deployment of robotics applications with thousands of professional users around the world. The purpose of this paper is threefold. Firstly, it is aimed at providing to robotic engineers a practical analysis to bound the worst-case response times of their applications. Secondly, it shines a light on current ROS 2 implementation choices from a real-time perspective. Finally, it presents a realistic real-time scheduling model, which provides an opportunity for future impact on the robotics industry.
Cite as

Daniel Casini, Tobias Blaß, Ingo Lütkebohle, and Björn B. Brandenburg. Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling. In 31st Euromicro Conference on Real-Time Systems (ECRTS 2019). Leibniz International Proceedings in Informatics (LIPIcs), Volume 133, pp. 6:1-6:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{casini_et_al:LIPIcs.ECRTS.2019.6,
  author =	{Casini, Daniel and Bla{\ss}, Tobias and L\"{u}tkebohle, Ingo and Brandenburg, Bj\"{o}rn B.},
  title =	{{Response-Time Analysis of ROS 2 Processing Chains Under Reservation-Based Scheduling}},
  booktitle =	{31st Euromicro Conference on Real-Time Systems (ECRTS 2019)},
  pages =	{6:1--6:23},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-110-8},
  ISSN =	{1868-8969},
  year =	{2019},
  volume =	{133},
  editor =	{Quinton, Sophie},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2019.6},
  URN =		{urn:nbn:de:0030-drops-107431},
  doi =		{10.4230/LIPIcs.ECRTS.2019.6},
  annote =	{Keywords: ROS, real-time systems, response-time analysis, robotics, resource reservation}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2017.26
Write-Back Caches in WCET Analysis

Authors: Tobias Blaß, Sebastian Hahn, and Jan Reineke

Published in: LIPIcs, Volume 76, 29th Euromicro Conference on Real-Time Systems (ECRTS 2017)

Abstract
Write-back caches are a popular choice in embedded microprocessors as they promise higher performance than write-through caches. So far, however, their use in hard real-time systems has been prohibited by the lack of adequate worst-case execution time (WCET) analysis support. In this paper, we introduce a new approach to statically analyze the behavior of write-back caches. Prior work took an "eviction-focussed perspective", answering for each potential cache miss: May this miss evict a dirty cache line and thus cause a write back? We complement this approach by exploring a "store-focussed perspective", answering for each store: May this store dirtify a clean cache line and thus cause a write back later on? Experimental evaluation demonstrates substantial precision improvements when both perspectives are combined. For most benchmarks, write-back caches are then preferable to write-through caches in terms of the computed WCET bounds.
Cite as

Tobias Blaß, Sebastian Hahn, and Jan Reineke. Write-Back Caches in WCET Analysis. In 29th Euromicro Conference on Real-Time Systems (ECRTS 2017). Leibniz International Proceedings in Informatics (LIPIcs), Volume 76, pp. 26:1-26:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2017)

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@InProceedings{bla_et_al:LIPIcs.ECRTS.2017.26,
  author =	{Bla{\ss}, Tobias and Hahn, Sebastian and Reineke, Jan},
  title =	{{Write-Back Caches in WCET Analysis}},
  booktitle =	{29th Euromicro Conference on Real-Time Systems (ECRTS 2017)},
  pages =	{26:1--26:22},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-037-8},
  ISSN =	{1868-8969},
  year =	{2017},
  volume =	{76},
  editor =	{Bertogna, Marko},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2017.26},
  URN =		{urn:nbn:de:0030-drops-71589},
  doi =		{10.4230/LIPIcs.ECRTS.2017.26},
  annote =	{Keywords: write-back caches, real-time systems, WCET analysis, cache analysis}
}
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