2 Search Results for "Abaza, Hazem"

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/OASIcs.WCET.2022.3
DELOOP: Automatic Flow Facts Computation Using Dynamic Symbolic Execution

Authors: Hazem Abaza, Zain Alabedin Haj Hammadeh, and Daniel Lüdtke

Published in: OASIcs, Volume 103, 20th International Workshop on Worst-Case Execution Time Analysis (WCET 2022)

Abstract
Constructing a complete control-flow graph (CGF) and computing upper bounds on loops of a computing system are essential to safely estimate the worst-case execution time (WCET) of real-time tasks. WCETs are required for verifying the timing requirements of a real-time computing system. Therefore, we propose an analysis using dynamic symbolic execution (DSE) that detects and computes upper bounds on the loops, and resolves indirect jumps. The proposed analysis constructs and initializes memory models, then it uses a satisfiability modulo theories (SMT) solver to symbolically execute the instructions. The analysis showed higher precision in bounding loops of the Mälardalen benchmarks comparing to SWEET and oRange. We integrated our analysis with the OTAWA toolbox for performing a WCET analysis. Then, we used the proposed analysis for estimating the WCET of functions in a use case inspired by an aerospace project.
Cite as

Hazem Abaza, Zain Alabedin Haj Hammadeh, and Daniel Lüdtke. DELOOP: Automatic Flow Facts Computation Using Dynamic Symbolic Execution. In 20th International Workshop on Worst-Case Execution Time Analysis (WCET 2022). Open Access Series in Informatics (OASIcs), Volume 103, pp. 3:1-3:12, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022)

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@InProceedings{abaza_et_al:OASIcs.WCET.2022.3,
  author =	{Abaza, Hazem and Haj Hammadeh, Zain Alabedin and L\"{u}dtke, Daniel},
  title =	{{DELOOP: Automatic Flow Facts Computation Using Dynamic Symbolic Execution}},
  booktitle =	{20th International Workshop on Worst-Case Execution Time Analysis (WCET 2022)},
  pages =	{3:1--3:12},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-244-0},
  ISSN =	{2190-6807},
  year =	{2022},
  volume =	{103},
  editor =	{Ballabriga, Cl\'{e}ment},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.WCET.2022.3},
  URN =		{urn:nbn:de:0030-drops-166256},
  doi =		{10.4230/OASIcs.WCET.2022.3},
  annote =	{Keywords: Real-Time, WCET, Symbolic execution}
}
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