7 Search Results for "Rong, Victor"

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.SpaceCHI.2025.1
Human-AI Interaction in Space: Insights from a Mars Analog Mission with the Harmony Large Language Model

Authors: Hippolyte Hilgers, Jean Vanderdonckt, and Radu-Daniel Vatavu

Published in: OASIcs, Volume 130, Advancing Human-Computer Interaction for Space Exploration (SpaceCHI 2025)

Abstract
The operational complexities of space missions require reliable, context-aware technical assistance for astronauts, especially when technical expertise is not available onboard and communication with Earth is delayed or limited. In this context, Large Language Models present a promising opportunity to augment human capabilities. To this end, we present Harmony, a model designed to provide astronauts with real-time technical assistance, fostering human-AI collaboration during analog missions. We report empirical results from an experiment involving seven analog astronauts that evaluated their user experience with Harmony in both a conventional environment and an isolated, confined, and extreme physical setting at the Mars Desert Research Station over four sessions, and discuss how the Mars analog environment impacted their experience. Our findings reveal the extent to which human-AI interactions evolve across various user experience dimensions and suggest how Harmony can be further adapted to suit extreme environments, with a focus on SpaceCHI.
Cite as

Hippolyte Hilgers, Jean Vanderdonckt, and Radu-Daniel Vatavu. Human-AI Interaction in Space: Insights from a Mars Analog Mission with the Harmony Large Language Model. In Advancing Human-Computer Interaction for Space Exploration (SpaceCHI 2025). Open Access Series in Informatics (OASIcs), Volume 130, pp. 1:1-1:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{hilgers_et_al:OASIcs.SpaceCHI.2025.1,
  author =	{Hilgers, Hippolyte and Vanderdonckt, Jean and Vatavu, Radu-Daniel},
  title =	{{Human-AI Interaction in Space: Insights from a Mars Analog Mission with the Harmony Large Language Model}},
  booktitle =	{Advancing Human-Computer Interaction for Space Exploration (SpaceCHI 2025)},
  pages =	{1:1--1:20},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-384-3},
  ISSN =	{2190-6807},
  year =	{2025},
  volume =	{130},
  editor =	{Bensch, Leonie and Nilsson, Tommy and Nisser, Martin and Pataranutaporn, Pat and Schmidt, Albrecht and Sumini, Valentina},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.SpaceCHI.2025.1},
  URN =		{urn:nbn:de:0030-drops-239912},
  doi =		{10.4230/OASIcs.SpaceCHI.2025.1},
  annote =	{Keywords: Extreme user experience, Human-AI interaction, Isolated-confined-extreme environment, Interaction design, Large Language Models, Mars Desert Research Station, Space mission, Technical assistance, Technical documentation, User experience}
}
Document
DOI: 10.4230/LIPIcs.ITCS.2025.91
Simple Norm Bounds for Polynomial Random Matrices via Decoupling

Authors: Madhur Tulsiani and June Wu

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

Abstract
We present a new method for obtaining norm bounds for random matrices, where each entry is a low-degree polynomial in an underlying set of independent real-valued random variables. Such matrices arise in a variety of settings in the analysis of spectral and optimization algorithms, which require understanding the spectrum of a random matrix depending on data obtained as independent samples. Using ideas of decoupling and linearization from analysis, we show a simple way of expressing norm bounds for such matrices, in terms of matrices of lower-degree polynomials corresponding to derivatives. Iterating this method gives a simple bound with an elementary proof, which can recover many bounds previously required more involved techniques.
Cite as

Madhur Tulsiani and June Wu. Simple Norm Bounds for Polynomial Random Matrices via Decoupling. In 16th Innovations in Theoretical Computer Science Conference (ITCS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 325, pp. 91:1-91:22, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{tulsiani_et_al:LIPIcs.ITCS.2025.91,
  author =	{Tulsiani, Madhur and Wu, June},
  title =	{{Simple Norm Bounds for Polynomial Random Matrices via Decoupling}},
  booktitle =	{16th Innovations in Theoretical Computer Science Conference (ITCS 2025)},
  pages =	{91:1--91:22},
  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.2025.91},
  URN =		{urn:nbn:de:0030-drops-227194},
  doi =		{10.4230/LIPIcs.ITCS.2025.91},
  annote =	{Keywords: Matrix Concentration, Decoupling, Graph Matrices}
}
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.
Cite as

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/OASIcs.Tannen.6
Fishing Fort: A System for Graph Analytics with ML Prediction and Logic Deduction

Authors: Wenfei Fan and Shuhao Liu

Published in: OASIcs, Volume 119, The Provenance of Elegance in Computation - Essays Dedicated to Val Tannen (2024)

Abstract
This paper reports Fishing Fort, a graph analytic system developed in response to the following questions. What practical value can we get out of graph analytics? How can we effectively deduce the value from a real-life graph? Where can we get clean graphs to make accurate analyses possible? To answer these questions, Fishing Fort advocates to unify logic deduction and ML prediction by proposing Graph Association Rules (GARs), a class of logic rules in which ML models can be embedded as predicates. It employs GARs to deduce graph associations, enrich graphs and clean graphs. It has been deployed in production lines and proven effective in online recommendation, drug discovery, credit risk assessment, battery manufacturing and cybersecurity, among other things.
Cite as

Wenfei Fan and Shuhao Liu. Fishing Fort: A System for Graph Analytics with ML Prediction and Logic Deduction. In The Provenance of Elegance in Computation - Essays Dedicated to Val Tannen. Open Access Series in Informatics (OASIcs), Volume 119, pp. 6:1-6:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{fan_et_al:OASIcs.Tannen.6,
  author =	{Fan, Wenfei and Liu, Shuhao},
  title =	{{Fishing Fort: A System for Graph Analytics with ML Prediction and Logic Deduction}},
  booktitle =	{The Provenance of Elegance in Computation - Essays Dedicated to Val Tannen},
  pages =	{6:1--6:18},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-320-1},
  ISSN =	{2190-6807},
  year =	{2024},
  volume =	{119},
  editor =	{Amarilli, Antoine and Deutsch, Alin},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.Tannen.6},
  URN =		{urn:nbn:de:0030-drops-201025},
  doi =		{10.4230/OASIcs.Tannen.6},
  annote =	{Keywords: graph analytics, data cleaning, association analysis}
}
Document
Vision
DOI: 10.4230/TGDK.1.1.9
Trust, Accountability, and Autonomy in Knowledge Graph-Based AI for Self-Determination

Authors: Luis-Daniel Ibáñez, John Domingue, Sabrina Kirrane, Oshani Seneviratne, Aisling Third, and Maria-Esther Vidal

Published in: TGDK, Volume 1, Issue 1 (2023): Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge, Volume 1, Issue 1

Abstract
Knowledge Graphs (KGs) have emerged as fundamental platforms for powering intelligent decision-making and a wide range of Artificial Intelligence (AI) services across major corporations such as Google, Walmart, and AirBnb. KGs complement Machine Learning (ML) algorithms by providing data context and semantics, thereby enabling further inference and question-answering capabilities. The integration of KGs with neuronal learning (e.g., Large Language Models (LLMs)) is currently a topic of active research, commonly named neuro-symbolic AI. Despite the numerous benefits that can be accomplished with KG-based AI, its growing ubiquity within online services may result in the loss of self-determination for citizens as a fundamental societal issue. The more we rely on these technologies, which are often centralised, the less citizens will be able to determine their own destinies. To counter this threat, AI regulation, such as the European Union (EU) AI Act, is being proposed in certain regions. The regulation sets what technologists need to do, leading to questions concerning How the output of AI systems can be trusted? What is needed to ensure that the data fuelling and the inner workings of these artefacts are transparent? How can AI be made accountable for its decision-making? This paper conceptualises the foundational topics and research pillars to support KG-based AI for self-determination. Drawing upon this conceptual framework, challenges and opportunities for citizen self-determination are illustrated and analysed in a real-world scenario. As a result, we propose a research agenda aimed at accomplishing the recommended objectives.
Cite as

Luis-Daniel Ibáñez, John Domingue, Sabrina Kirrane, Oshani Seneviratne, Aisling Third, and Maria-Esther Vidal. Trust, Accountability, and Autonomy in Knowledge Graph-Based AI for Self-Determination. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 9:1-9:32, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{ibanez_et_al:TGDK.1.1.9,
  author =	{Ib\'{a}\~{n}ez, Luis-Daniel and Domingue, John and Kirrane, Sabrina and Seneviratne, Oshani and Third, Aisling and Vidal, Maria-Esther},
  title =	{{Trust, Accountability, and Autonomy in Knowledge Graph-Based AI for Self-Determination}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{9:1--9:32},
  ISSN =	{2942-7517},
  year =	{2023},
  volume =	{1},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.1.1.9},
  URN =		{urn:nbn:de:0030-drops-194839},
  doi =		{10.4230/TGDK.1.1.9},
  annote =	{Keywords: Trust, Accountability, Autonomy, AI, Knowledge Graphs}
}
Document
Track A: Algorithms, Complexity and Games
DOI: 10.4230/LIPIcs.ICALP.2022.50
New Additive Approximations for Shortest Paths and Cycles

Authors: Mingyang Deng, Yael Kirkpatrick, Victor Rong, Virginia Vassilevska Williams, and Ziqian Zhong

Published in: LIPIcs, Volume 229, 49th International Colloquium on Automata, Languages, and Programming (ICALP 2022)

Abstract
This paper considers additive approximation algorithms for All-Pairs Shortest Paths (APSP) and Shortest Cycle in undirected unweighted graphs. The results are as follows: - We obtain the first +2-approximation algorithm for APSP in n-vertex graphs that improves upon Dor, Halperin and Zwick’s (SICOMP'00) Õ(n^{7/3}) time algorithm. The new algorithm runs in Õ(n^2.29) time and is obtained via a reduction to Min-Plus product of bounded difference matrices. - We obtain the first additive approximation scheme for Shortest Cycle, generalizing the approximation algorithms of Itai and Rodeh (SICOMP'78) and Roditty and Vassilevska W. (SODA'12). For every integer r ≥ 0, we give an Õ(n+n^{2+r}/m^r) time algorithm that returns a +(2r+1)-approximate shortest cycle in any n-vertex, m-edge graph.
Cite as

Mingyang Deng, Yael Kirkpatrick, Victor Rong, Virginia Vassilevska Williams, and Ziqian Zhong. New Additive Approximations for Shortest Paths and Cycles. In 49th International Colloquium on Automata, Languages, and Programming (ICALP 2022). Leibniz International Proceedings in Informatics (LIPIcs), Volume 229, pp. 50:1-50:10, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2022)

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@InProceedings{deng_et_al:LIPIcs.ICALP.2022.50,
  author =	{Deng, Mingyang and Kirkpatrick, Yael and Rong, Victor and Vassilevska Williams, Virginia and Zhong, Ziqian},
  title =	{{New Additive Approximations for Shortest Paths and Cycles}},
  booktitle =	{49th International Colloquium on Automata, Languages, and Programming (ICALP 2022)},
  pages =	{50:1--50:10},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-235-8},
  ISSN =	{1868-8969},
  year =	{2022},
  volume =	{229},
  editor =	{Boja\'{n}czyk, Miko{\l}aj and Merelli, Emanuela and Woodruff, David P.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ICALP.2022.50},
  URN =		{urn:nbn:de:0030-drops-163919},
  doi =		{10.4230/LIPIcs.ICALP.2022.50},
  annote =	{Keywords: Fine-grained Complexity, Additive Approximation}
}
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