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Documents authored by Lütkebohle, Ingo

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/DagSemProc.10401.5
The Task-State Coordination Pattern, with applications in Human-Robot-Interaction

Authors: Ingo Lütkebohle, Julia Peltason, Britta Wrede, and Sven Wachsmuth

Published in: Dagstuhl Seminar Proceedings, Volume 10401, Learning, Planning and Sharing Robot Knowledge for Human-Robot Interaction (2011)

Abstract
We consider interaction a powerful enabling technology for robots in human environments. Besides taking commands or reporting, many other uses, such as interactive learning, are already being explored. However, HRI also poses systems engineering challenges that may hinder its adoption. To address these, we advocate a general coordination pattern for task execution: The Task-State Pattern. Crucially, it separates interaction coordination from task-level control, thus enabling independent, but integrated, development. In the pattern, tasks are represented using both a general, re-usable task coordination model and a task-type dependent specification. We have introduced a coordination model rich enough to support a powerful user experience, but still general enough to accomodate a variety of tasks, thus simplifying architecture and integration. Furthermore, because it is re-used in many places, it provides an attractive target for tool support.
Cite as

Ingo Lütkebohle, Julia Peltason, Britta Wrede, and Sven Wachsmuth. The Task-State Coordination Pattern, with applications in Human-Robot-Interaction. In Learning, Planning and Sharing Robot Knowledge for Human-Robot Interaction. Dagstuhl Seminar Proceedings, Volume 10401, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2011)

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@InProceedings{lutkebohle_et_al:DagSemProc.10401.5,
  author =	{L\"{u}tkebohle, Ingo and Peltason, Julia and Wrede, Britta and Wachsmuth, Sven},
  title =	{{The Task-State Coordination Pattern, with applications in Human-Robot-Interaction}},
  booktitle =	{Learning, Planning and Sharing Robot Knowledge for Human-Robot Interaction},
  series =	{Dagstuhl Seminar Proceedings (DagSemProc)},
  ISSN =	{1862-4405},
  year =	{2011},
  volume =	{10401},
  editor =	{Rachid Alami and R\"{u}diger Dillmann and Thomas C. Henderson and Alexandra Kirsch},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagSemProc.10401.5},
  URN =		{urn:nbn:de:0030-drops-29318},
  doi =		{10.4230/DagSemProc.10401.5},
  annote =	{Keywords: Coordination, software architecture, design pattern, dialog, human-robot-interaction}
}
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