2 Search Results for "Maeda, Yuya"

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.FSCD.2018.26
Narrowing Trees for Syntactically Deterministic Conditional Term Rewriting Systems

Authors: Naoki Nishida and Yuya Maeda

Published in: LIPIcs, Volume 108, 3rd International Conference on Formal Structures for Computation and Deduction (FSCD 2018)

Abstract
A narrowing tree for a constructor term rewriting system and a pair of terms is a finite representation for the space of all possible innermost-narrowing derivations that start with the pair and end with non-narrowable terms. Narrowing trees have grammar representations that can be considered regular tree grammars. Innermost narrowing is a counterpart of constructor-based rewriting, and thus, narrowing trees can be used in analyzing constructor-based rewriting to normal forms. In this paper, using grammar representations, we extend narrowing trees to syntactically deterministic conditional term rewriting systems that are constructor systems. We show that narrowing trees are useful to prove two properties of a normal conditional term rewriting system: one is infeasibility of conditional critical pairs and the other is quasi-reducibility.
Cite as

Naoki Nishida and Yuya Maeda. Narrowing Trees for Syntactically Deterministic Conditional Term Rewriting Systems. In 3rd International Conference on Formal Structures for Computation and Deduction (FSCD 2018). Leibniz International Proceedings in Informatics (LIPIcs), Volume 108, pp. 26:1-26:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2018)

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@InProceedings{nishida_et_al:LIPIcs.FSCD.2018.26,
  author =	{Nishida, Naoki and Maeda, Yuya},
  title =	{{Narrowing Trees for Syntactically Deterministic Conditional Term Rewriting Systems}},
  booktitle =	{3rd International Conference on Formal Structures for Computation and Deduction (FSCD 2018)},
  pages =	{26:1--26:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-077-4},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{108},
  editor =	{Kirchner, H\'{e}l\`{e}ne},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.FSCD.2018.26},
  URN =		{urn:nbn:de:0030-drops-91964},
  doi =		{10.4230/LIPIcs.FSCD.2018.26},
  annote =	{Keywords: conditional term rewriting, innermost narrowing, regular tree grammar}
}
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