4 Search Results for "Saad, Muhammad"

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
Survey
DOI: 10.4230/TGDK.1.1.11
How Does Knowledge Evolve in Open Knowledge Graphs?

Authors: Axel Polleres, Romana Pernisch, Angela Bonifati, Daniele Dell'Aglio, Daniil Dobriy, Stefania Dumbrava, Lorena Etcheverry, Nicolas Ferranti, Katja Hose, Ernesto Jiménez-Ruiz, Matteo Lissandrini, Ansgar Scherp, Riccardo Tommasini, and Johannes Wachs

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
Openly available, collaboratively edited Knowledge Graphs (KGs) are key platforms for the collective management of evolving knowledge. The present work aims t o provide an analysis of the obstacles related to investigating and processing specifically this central aspect of evolution in KGs. To this end, we discuss (i) the dimensions of evolution in KGs, (ii) the observability of evolution in existing, open, collaboratively constructed Knowledge Graphs over time, and (iii) possible metrics to analyse this evolution. We provide an overview of relevant state-of-the-art research, ranging from metrics developed for Knowledge Graphs specifically to potential methods from related fields such as network science. Additionally, we discuss technical approaches - and their current limitations - related to storing, analysing and processing large and evolving KGs in terms of handling typical KG downstream tasks.
Cite as

Axel Polleres, Romana Pernisch, Angela Bonifati, Daniele Dell'Aglio, Daniil Dobriy, Stefania Dumbrava, Lorena Etcheverry, Nicolas Ferranti, Katja Hose, Ernesto Jiménez-Ruiz, Matteo Lissandrini, Ansgar Scherp, Riccardo Tommasini, and Johannes Wachs. How Does Knowledge Evolve in Open Knowledge Graphs?. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 11:1-11:59, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{polleres_et_al:TGDK.1.1.11,
  author =	{Polleres, Axel and Pernisch, Romana and Bonifati, Angela and Dell'Aglio, Daniele and Dobriy, Daniil and Dumbrava, Stefania and Etcheverry, Lorena and Ferranti, Nicolas and Hose, Katja and Jim\'{e}nez-Ruiz, Ernesto and Lissandrini, Matteo and Scherp, Ansgar and Tommasini, Riccardo and Wachs, Johannes},
  title =	{{How Does Knowledge Evolve in Open Knowledge Graphs?}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{11:1--11:59},
  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.1.1.11},
  URN =		{urn:nbn:de:0030-drops-194855},
  doi =		{10.4230/TGDK.1.1.11},
  annote =	{Keywords: KG evolution, temporal KG, versioned KG, dynamic KG}
}
Document
DOI: 10.4230/OASIcs.Gabbrielli.2
A Formal Analysis of the Bitcoin Protocol

Authors: Cosimo Laneve and Adele Veschetti

Published in: OASIcs, Volume 86, Recent Developments in the Design and Implementation of Programming Languages (2020)

Abstract
We study Nakamoto’s Bitcoin protocol that implements a distributed ledger on peer-to-peer asynchronous networks. In particular, we define a principled formal model of key participants - the miners - as stochastic processes and describe the whole system as a parallel composition of miners. We therefore compute the probability that ledgers turn into a state with more severe inconsistencies, e.g. with longer forks, under the assumptions that messages are not lost and nodes are not hostile. We also study how the presence of hostile nodes mining blocks in wrong positions impacts on the consistency of the ledgers. Our theoretical results agree with the simulations performed on a probabilistic model checker that we extended with dynamic datatypes in order to have a faithful description of miners' behaviour.
Cite as

Cosimo Laneve and Adele Veschetti. A Formal Analysis of the Bitcoin Protocol. In Recent Developments in the Design and Implementation of Programming Languages. Open Access Series in Informatics (OASIcs), Volume 86, pp. 2:1-2:17, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2020)

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@InProceedings{laneve_et_al:OASIcs.Gabbrielli.2,
  author =	{Laneve, Cosimo and Veschetti, Adele},
  title =	{{A Formal Analysis of the Bitcoin Protocol}},
  booktitle =	{Recent Developments in the Design and Implementation of Programming Languages},
  pages =	{2:1--2:17},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-171-9},
  ISSN =	{2190-6807},
  year =	{2020},
  volume =	{86},
  editor =	{de Boer, Frank S. and Mauro, Jacopo},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.Gabbrielli.2},
  URN =		{urn:nbn:de:0030-drops-132242},
  doi =		{10.4230/OASIcs.Gabbrielli.2},
  annote =	{Keywords: Bitcoin, Distributed consensus, Distributed ledgers, Blockchain, PRISM, forks}
}
Document
Invited Talk
DOI: 10.4230/LIPIcs.TIME.2019.1
Computing the Fourier Transformation over Temporal Data Streams (Invited Talk)

Authors: Michael H. Böhlen and Muhammad Saad

Published in: LIPIcs, Volume 147, 26th International Symposium on Temporal Representation and Reasoning (TIME 2019)

Abstract
In radio astronomy the sky is continuously scanned to collect frequency information about celestial objects. The inverse 2D Fourier transformation is used to generate images of the sky from the collected frequency information. We propose an algorithm that incrementally refines images by processing frequency information as it arrives in a temporal data stream. A direct implementation of the refinement with the discrete Fourier transformation requires O(N^2) complex multiplications to process an element of the stream. We propose a new algorithm that avoids recomputations and only requires O(N) complex multiplications.
Cite as

Michael H. Böhlen and Muhammad Saad. Computing the Fourier Transformation over Temporal Data Streams (Invited Talk). In 26th International Symposium on Temporal Representation and Reasoning (TIME 2019). Leibniz International Proceedings in Informatics (LIPIcs), Volume 147, pp. 1:1-1:4, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{bohlen_et_al:LIPIcs.TIME.2019.1,
  author =	{B\"{o}hlen, Michael H. and Saad, Muhammad},
  title =	{{Computing the Fourier Transformation over Temporal Data Streams}},
  booktitle =	{26th International Symposium on Temporal Representation and Reasoning (TIME 2019)},
  pages =	{1:1--1:4},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-127-6},
  ISSN =	{1868-8969},
  year =	{2019},
  volume =	{147},
  editor =	{Gamper, Johann and Pinchinat, Sophie and Sciavicco, Guido},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.TIME.2019.1},
  URN =		{urn:nbn:de:0030-drops-113595},
  doi =		{10.4230/LIPIcs.TIME.2019.1},
  annote =	{Keywords: Data streams, Fourier transform, time-varying data}
}
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