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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.

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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}
}

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DOI: 10.4230/LIPIcs.ISAAC.2025.5

Graph Coloring Below Guarantees via Co-Triangle Packing

Authors: Shyan Akmal and Tomohiro Koana

Published in: LIPIcs, Volume 359, 36th International Symposium on Algorithms and Computation (ISAAC 2025)

Abstract

In the 𝓁-Coloring problem, we are given a graph on n nodes, and tasked with determining if its vertices can be properly colored using 𝓁 colors. In this paper we study below-guarantee graph coloring, which tests whether an n-vertex graph can be properly colored using g-k colors, where g is a trivial upper bound such as n. We introduce an algorithmic framework that builds on a packing of co-triangles K₃ (independent sets of three vertices): the algorithm greedily finds co-triangles and employs a win-win analysis. If many are found, we immediately return yes; otherwise these co-triangles form a small co-triangle modulator, whose deletion makes the graph co-triangle-free. Extending the work of [Gutin et al., SIDMA 2021], who solved 𝓁-Coloring (for any 𝓁) in randomized O^∗(2^k) time when given a K₂-free modulator of size k, we show that this problem can likewise be solved in randomized O^*(2^{k}) time when given a K₃-free modulator of size k. This result in turn yields a randomized O^*(2^{3k/2}) algorithm for (n-k)-Coloring (also known as Dual Coloring), improving the previous O^*(4^k) bound. We then introduce a smaller parameterization, (ω+μ-k)-Coloring, where ω is the clique number and μ is the size of a maximum matching in the complement graph; since ω+μ ≤ n for any graph, this problem is strictly harder. Using the same co-triangle-packing argument, we obtain a randomized O^*(2^{6k}) algorithm, establishing its fixed-parameter tractability for a smaller parameter. Complementing this finding, we show that no fixed-parameter tractable algorithm exists for (ω-k)-Coloring or (μ-k)-Coloring under standard complexity assumptions.

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Shyan Akmal and Tomohiro Koana. Graph Coloring Below Guarantees via Co-Triangle Packing. In 36th International Symposium on Algorithms and Computation (ISAAC 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 359, pp. 5:1-5:16, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{akmal_et_al:LIPIcs.ISAAC.2025.5,
  author =	{Akmal, Shyan and Koana, Tomohiro},
  title =	{{Graph Coloring Below Guarantees via Co-Triangle Packing}},
  booktitle =	{36th International Symposium on Algorithms and Computation (ISAAC 2025)},
  pages =	{5:1--5:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-408-6},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{359},
  editor =	{Chen, Ho-Lin and Hon, Wing-Kai and Tsai, Meng-Tsung},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ISAAC.2025.5},
  URN =		{urn:nbn:de:0030-drops-249130},
  doi =		{10.4230/LIPIcs.ISAAC.2025.5},
  annote =	{Keywords: coloring, parameterized algorithms, algebraic algorithms, above-guarantee, below-guarantee, subset convolution, determinants}
}

Document

DOI: 10.4230/LIPIcs.ITCS.2025.66

Graph Reconstruction via MIS Queries

Authors: Christian Konrad, Conor O'Sullivan, and Victor Traistaru

Published in: LIPIcs, Volume 325, 16th Innovations in Theoretical Computer Science Conference (ITCS 2025)

Abstract

In the Graph Reconstruction (GR) problem, a player initially only knows the vertex set V of an input graph G = (V, E) and is required to learn its set of edges E. To this end, the player submits queries to an oracle and must deduce E from the oracle’s answers. Angluin and Chen [Journal of Computer and System Sciences, 2008] resolved the number of Independent Set (IS) queries necessary and sufficient for GR on m-edge graphs. In this setting, each query consists of a subset of vertices U ⊆ V, and the oracle responds with a boolean, indicating whether U is an independent set in G. They gave algorithms that use O(m ⋅ log n) IS queries, which is best possible. In this paper, we initiate the study of GR via Maximal Independent Set (MIS) queries, a more powerful variant of IS queries. Given a query U ⊆ V, the oracle responds with any, potentially adversarially chosen, maximal independent set I ⊆ U in the induced subgraph G[U]. We show that, for GR, MIS queries are strictly more powerful than IS queries when parametrized by the maximum degree Δ of the input graph. We give tight (up to poly-logarithmic factors) upper and lower bounds for this problem: 1) We observe that the simple strategy of taking uniform independent random samples of V and submitting those to the oracle yields a non-adaptive randomized algorithm that executes O(Δ² ⋅ log n) queries and succeeds with high probability. This should be contrasted with the fact that Ω(Δ ⋅ n ⋅ log(n/Δ)) IS queries are required for such graphs, which shows that MIS queries are strictly more powerful than IS queries. Interestingly, combining the strategy of taking uniform random samples of V with the probabilistic method, we show the existence of a deterministic non-adaptive algorithm that executes O(Δ³ ⋅ log(n/Δ)) queries. 2) Regarding lower bounds, we prove that the additional Δ factor when going from randomized non-adaptive algorithms to deterministic non-adaptive algorithms is necessary. We show that every non-adaptive deterministic algorithm requires Ω(Δ³ / log² Δ) queries. For arbitrary randomized adaptive algorithms, we show that Ω(Δ²) queries are necessary in graphs of maximum degree Δ, and that Ω(log n) queries are necessary, even when the input graph is an n-vertex cycle.

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Christian Konrad, Conor O'Sullivan, and Victor Traistaru. Graph Reconstruction via MIS Queries. In 16th Innovations in Theoretical Computer Science Conference (ITCS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 325, pp. 66:1-66:19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{konrad_et_al:LIPIcs.ITCS.2025.66,
  author =	{Konrad, Christian and O'Sullivan, Conor and Traistaru, Victor},
  title =	{{Graph Reconstruction via MIS Queries}},
  booktitle =	{16th Innovations in Theoretical Computer Science Conference (ITCS 2025)},
  pages =	{66:1--66:19},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-361-4},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{325},
  editor =	{Meka, Raghu},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITCS.2025.66},
  URN =		{urn:nbn:de:0030-drops-226945},
  doi =		{10.4230/LIPIcs.ITCS.2025.66},
  annote =	{Keywords: Query Complexity, Graph Reconstruction, Maximal Independent Set Queries}
}

Document

DOI: 10.4230/LIPIcs.MFCS.2023.77

A Polynomial-Time Algorithm for MCS Partial Search Order on Chordal Graphs

Authors: Guozhen Rong, Yongjie Yang, and Wenjun Li

Published in: LIPIcs, Volume 272, 48th International Symposium on Mathematical Foundations of Computer Science (MFCS 2023)

Abstract

We study the partial search order problem (PSOP) proposed recently by Scheffler [WG 2022]. Given a graph G together with a partial order on the set of vertices of G, this problem determines if there is an 𝒮-ordering that is consistent with the given partial order, where 𝒮 is a graph search paradigm like BFS, DFS, etc. This problem naturally generalizes the end-vertex problem which has received much attention over the past few years. It also generalizes the so-called ℱ-tree recognition problem which has just been studied in the literature recently. Our main contribution is a polynomial-time dynamic programming algorithm for the PSOP of the maximum cardinality search (MCS) restricted to chordal graphs. This resolves one of the most intriguing open questions left in the work of Scheffler [WG 2022]. To obtain our result, we propose the notion of layer structure and study numerous related structural properties which might be of independent interest.

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Guozhen Rong, Yongjie Yang, and Wenjun Li. A Polynomial-Time Algorithm for MCS Partial Search Order on Chordal Graphs. In 48th International Symposium on Mathematical Foundations of Computer Science (MFCS 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 272, pp. 77:1-77:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@InProceedings{rong_et_al:LIPIcs.MFCS.2023.77,
  author =	{Rong, Guozhen and Yang, Yongjie and Li, Wenjun},
  title =	{{A Polynomial-Time Algorithm for MCS Partial Search Order on Chordal Graphs}},
  booktitle =	{48th International Symposium on Mathematical Foundations of Computer Science (MFCS 2023)},
  pages =	{77:1--77:15},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-292-1},
  ISSN =	{1868-8969},
  year =	{2023},
  volume =	{272},
  editor =	{Leroux, J\'{e}r\^{o}me and Lombardy, Sylvain and Peleg, David},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.MFCS.2023.77},
  URN =		{urn:nbn:de:0030-drops-186118},
  doi =		{10.4230/LIPIcs.MFCS.2023.77},
  annote =	{Keywords: partial search order, maximum cardinality search, chordal graphs, clique graphs, dynamic programming}
}

Document

DOI: 10.4230/LIPIcs.ISAAC.2019.1

Graph Searches and Their End Vertices

Authors: Yixin Cao, Zhifeng Wang, Guozhen Rong, and Jianxin Wang

Published in: LIPIcs, Volume 149, 30th International Symposium on Algorithms and Computation (ISAAC 2019)

Abstract

Graph search, the process of visiting vertices in a graph in a specific order, has demonstrated magical powers in many important algorithms. But a systematic study was only initiated by Corneil et al. a decade ago, and only by then we started to realize how little we understand it. Even the apparently naïve question "which vertex can be the last visited by a graph search algorithm," known as the end vertex problem, turns out to be quite elusive. We give a full picture of all maximum cardinality searches on chordal graphs, which implies a polynomial-time algorithm for the end vertex problem of maximum cardinality search. It is complemented by a proof of NP-completeness of the same problem on weakly chordal graphs. We also show linear-time algorithms for deciding end vertices of breadth-first searches on interval graphs, and end vertices of lexicographic depth-first searches on chordal graphs. Finally, we present 2^n * n^O(1)-time algorithms for deciding the end vertices of breadth-first searches, depth-first searches, and maximum cardinality searches on general graphs.

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Yixin Cao, Zhifeng Wang, Guozhen Rong, and Jianxin Wang. Graph Searches and Their End Vertices. In 30th International Symposium on Algorithms and Computation (ISAAC 2019). Leibniz International Proceedings in Informatics (LIPIcs), Volume 149, pp. 1:1-1:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{cao_et_al:LIPIcs.ISAAC.2019.1,
  author =	{Cao, Yixin and Wang, Zhifeng and Rong, Guozhen and Wang, Jianxin},
  title =	{{Graph Searches and Their End Vertices}},
  booktitle =	{30th International Symposium on Algorithms and Computation (ISAAC 2019)},
  pages =	{1:1--1:18},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-130-6},
  ISSN =	{1868-8969},
  year =	{2019},
  volume =	{149},
  editor =	{Lu, Pinyan and Zhang, Guochuan},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ISAAC.2019.1},
  URN =		{urn:nbn:de:0030-drops-114973},
  doi =		{10.4230/LIPIcs.ISAAC.2019.1},
  annote =	{Keywords: maximum cardinality search, (lexicographic) breadth-first search, (lexicographic) depth-first search, chordal graph, weighted clique graph, end vertex}
}

5 Search Results for "Rong, Guozhen"

A Survey of Real-Time Support, Analysis, and Advancements in ROS 2

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Graph Coloring Below Guarantees via Co-Triangle Packing

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Graph Reconstruction via MIS Queries

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A Polynomial-Time Algorithm for MCS Partial Search Order on Chordal Graphs

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Graph Searches and Their End Vertices

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