DROPS

Volume

OASIcs, Volume 68

Workshop on Autonomous Systems Design (ASD 2019)

ASD 2019, March 29, 2019, Florence, Italy

Editors: Selma Saidi, Rolf Ernst, and Dirk Ziegenbein

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.ECRTS.2025.3

Enabling Containerisation of Distributed Applications with Real-Time Constraints

Authors: Nasim Samimi, Luca Abeni, Daniel Casini, Mauro Marinoni, Twan Basten, Mitra Nasri, Marc Geilen, and Alessandro Biondi

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)

Abstract

Containerisation is becoming a cornerstone of modern distributed systems, thanks to their lightweight virtualisation, high portability, and seamless integration with orchestration tools such as Kubernetes. The usage of containers has also gained traction in real-time cyber-physical systems, such as software-defined vehicles, which are characterised by strict timing requirements to ensure safety and performance. Nevertheless, ensuring real-time execution of co-located containers is challenging because of mutual interference due to the sharing of the same processing hardware. Existing parallel computing frameworks such as Ray and its Kubernetes-enabled variant, KubeRay, excel in distributed computation but lack support for scheduling policies that allow guaranteeing real-time timing constraints and CPU resource isolation between containers, such as the SCHED_DEADLINE policy of Linux. To fill this gap, this paper extends Ray to support real-time containers that leverage SCHED_DEADLINE. To this end, we propose KubeDeadline, a novel, modular Kubernetes extension to support SCHED_DEADLINE. We evaluate our approach through extensive experiments, using synthetic workloads and a case study based on the MobileNet and EfficientNet deep neural networks. Our evaluation shows that KubeDeadline ensures deadline compliance in all synthetic workloads, adds minimal deployment overhead (in the order of milliseconds), and achieves lower worst-case response times, up to 4 times lower, than vanilla Kubernetes under background interference.

Cite as

Nasim Samimi, Luca Abeni, Daniel Casini, Mauro Marinoni, Twan Basten, Mitra Nasri, Marc Geilen, and Alessandro Biondi. Enabling Containerisation of Distributed Applications with Real-Time Constraints. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 3:1-3:29, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{samimi_et_al:LIPIcs.ECRTS.2025.3,
  author =	{Samimi, Nasim and Abeni, Luca and Casini, Daniel and Marinoni, Mauro and Basten, Twan and Nasri, Mitra and Geilen, Marc and Biondi, Alessandro},
  title =	{{Enabling Containerisation of Distributed Applications with Real-Time Constraints}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{3:1--3:29},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.3},
  URN =		{urn:nbn:de:0030-drops-235816},
  doi =		{10.4230/LIPIcs.ECRTS.2025.3},
  annote =	{Keywords: Kubernetes, real-time containers, SCHED\underlineDEADLINE, KubeRay}
}

Document

DOI: 10.4230/LIPIcs.ECRTS.2025.9

DAMA: A Dual Arbitration Mechanism for Mixed-Criticality Applications

Authors: Wafic Lawand and Rodolfo Pellizzoni

Published in: LIPIcs, Volume 335, 37th Euromicro Conference on Real-Time Systems (ECRTS 2025)

Abstract

We discuss hardware resource management in mixed-criticality systems, where requestors may issue latency-critical (LTC) and non-latency-critical (NLTC) requests. LTC requests must adhere to strict latency bounds imposed by safety-critical applications, but timely servicing NLTC requests is necessary to maximize overall system performance in the average case. In this paper, we address this tradeoff for a shared memory resource by proposing DAMA, a dual arbitration mechanism that imposes an upper bound on the cumulative latency of LTC requests without unduly impacting NLTC performance. DAMA comprises a high-performance arbiter, a real-time arbiter, and a mechanism that constantly monitors the cumulative latency of requests suffered by each requestor. DAMA primarily executes in high-performance mode and only switches to real-time mode in the rare instances when its incorporated mechanism detects a violation of a task’s timing guarantee. We demonstrate the effectiveness of our arbitration scheme by adapting a predictable prefetcher that issues NLTC requests and attaching it to the L1 caches of our cores. We show both formally and experimentally that DAMA provides timing guarantees for LTC requests while processing other NLTC requests. We also demonstrate that with a negligible overhead of less than 1.5% on the cumulative latency bound of LTC requests, DAMA can achieve an equivalent average performance to a prefetcher that processes requests under a high-performance arbitration scheme.

Cite as

Wafic Lawand and Rodolfo Pellizzoni. DAMA: A Dual Arbitration Mechanism for Mixed-Criticality Applications. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 9:1-9:24, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{lawand_et_al:LIPIcs.ECRTS.2025.9,
  author =	{Lawand, Wafic and Pellizzoni, Rodolfo},
  title =	{{DAMA: A Dual Arbitration Mechanism for Mixed-Criticality Applications}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{9:1--9:24},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-377-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{335},
  editor =	{Mancuso, Renato},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2025.9},
  URN =		{urn:nbn:de:0030-drops-235875},
  doi =		{10.4230/LIPIcs.ECRTS.2025.9},
  annote =	{Keywords: Real-time Systems, Mixed-criticality Applications, Memory controllers, Prefetchers}
}

Document

DOI: 10.4230/DagRep.9.12.28

Future Automotive HW/SW Platform Design (Dagstuhl Seminar 19502)

Authors: Dirk Ziegenbein, Selma Saidi, Xiaobo Sharon Hu, and Sebastian Steinhorst

Published in: Dagstuhl Reports, Volume 9, Issue 12 (2020)

Abstract

This report documents the program and the outcomes of Dagstuhl Seminar 19502 "Future Automotive HW/SW Platform Design". The goal of this seminar was to gather researchers and practitioners from academia and industry to discuss key industrial challenges, existing solutions and research directions in the design of future automotive HW/SW platforms, particularly focusing on predictability of systems regarding extra-functional properties, safe integration of hardware and software components and programmability and optimization of emerging heterogeneous platforms.

Cite as

Dirk Ziegenbein, Selma Saidi, Xiaobo Sharon Hu, and Sebastian Steinhorst. Future Automotive HW/SW Platform Design (Dagstuhl Seminar 19502). In Dagstuhl Reports, Volume 9, Issue 12, pp. 28-66, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2020)

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@Article{ziegenbein_et_al:DagRep.9.12.28,
  author =	{Ziegenbein, Dirk and Saidi, Selma and Hu, Xiaobo Sharon and Steinhorst, Sebastian},
  title =	{{Future Automotive HW/SW Platform Design (Dagstuhl Seminar 19502)}},
  pages =	{28--66},
  journal =	{Dagstuhl Reports},
  ISSN =	{2192-5283},
  year =	{2020},
  volume =	{9},
  number =	{12},
  editor =	{Ziegenbein, Dirk and Saidi, Selma and Hu, Xiaobo Sharon and Steinhorst, Sebastian},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/DagRep.9.12.28},
  URN =		{urn:nbn:de:0030-drops-120101},
  doi =		{10.4230/DagRep.9.12.28},
  annote =	{Keywords: automotive, hw/sw platforms, real-time systems, systems design automation}
}

Document

Complete Volume

DOI: 10.4230/OASIcs.ASD.2019

OASIcs, Volume 68, ASD'19, Complete Volume

Authors: Selma Saidi, Rolf Ernst, and Dirk Ziegenbein

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

OASIcs, Volume 68, ASD'19, Complete Volume

Cite as

Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@Proceedings{saidi_et_al:OASIcs.ASD.2019,
  title =	{{OASIcs, Volume 68, ASD'19, Complete Volume}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019},
  URN =		{urn:nbn:de:0030-drops-103628},
  doi =		{10.4230/OASIcs.ASD.2019},
  annote =	{Keywords: Hardware, Analysis and design of emerging devices and systems, Computer systems organization, Robotic autonomy, Software and its engineering, Software safety, Dependable and fault-tolerant systems and networks}
}

Document

Front Matter

DOI: 10.4230/OASIcs.ASD.2019.0

Front Matter, Table of Contents, Preface, Conference Organization

Authors: Selma Saidi, Rolf Ernst, and Dirk Ziegenbein

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

Front Matter, Table of Contents, Preface, Conference Organization

Cite as

Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 0:i-0:xviii, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{saidi_et_al:OASIcs.ASD.2019.0,
  author =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  title =	{{Front Matter, Table of Contents, Preface, Conference Organization}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{0:i--0:xviii},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.0},
  URN =		{urn:nbn:de:0030-drops-103337},
  doi =		{10.4230/OASIcs.ASD.2019.0},
  annote =	{Keywords: Front Matter, Table of Contents, Preface, Conference Organization}
}

Document

DOI: 10.4230/OASIcs.ASD.2019.1

Fault-Tolerance by Graceful Degradation for Car Platoons

Authors: M. Baha E. Zarrouki, Verena Klös, Markus Grabowski, and Sabine Glesner

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

The key advantage of autonomous car platoons are their short inter-vehicle distances that increase traffic flow and reduce fuel consumption. However, this is challenging for operational and functional safety. If a failure occurs, the affected vehicles cannot suddenly stop driving but instead should continue their operation with reduced performance until a safe state can be reached or, in the case of temporal failures, full functionality can be guaranteed again. To achieve this degradation, platoon members have to be able to compensate sensor and communication failures and have to adjust their inter-vehicle distances to ensure safety. In this work, we describe a systematic design of degradation cascades for sensor and communication failures in autonomous car platoons using the example of an autonomous model car. We describe our systematic design method, the resulting degradation modes, and formulate contracts for each degradation level. We model and test our resulting degradation controller in Simulink/Stateflow.

Cite as

M. Baha E. Zarrouki, Verena Klös, Markus Grabowski, and Sabine Glesner. Fault-Tolerance by Graceful Degradation for Car Platoons. In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 1:1-1:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{zarrouki_et_al:OASIcs.ASD.2019.1,
  author =	{Zarrouki, M. Baha E. and Kl\"{o}s, Verena and Grabowski, Markus and Glesner, Sabine},
  title =	{{Fault-Tolerance by Graceful Degradation for Car Platoons}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{1:1--1:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.1},
  URN =		{urn:nbn:de:0030-drops-103344},
  doi =		{10.4230/OASIcs.ASD.2019.1},
  annote =	{Keywords: fault-tolerance, degradation, car platoons, autonomous driving, contracts}
}

Document

DOI: 10.4230/OASIcs.ASD.2019.2

Feasibility Study and Benchmarking of Embedded MPC for Vehicle Platoons

Authors: Iñaki Martín Soroa, Amr Ibrahim, Dip Goswami, and Hong Li

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

This paper performs a feasibility analysis of deploying Model Predictive Control (MPC) for vehicle platooning on an On-Board Unit (OBU) and performance benchmarking considering interference from other (system) tasks running on an OBU. MPC is a control strategy that solves an implicit (on-line) or explicit (off-line) optimisation problem for computing the control input in every sample. OBUs have limited computational resources. The challenge is to implement an MPC algorithm on such automotive Electronic Control Units (ECUs) with an acceptable timing behavior. Moreover, we should be able to stop the execution if necessary at the cost of performance. We measured the computational capability of a unit developed by Cohda Wireless and NXP under the influence of its Operating System (OS). Next, we analysed the computational requirements of different state-of-the-art MPC algorithms by estimating their execution times. We use off-the-shelf and free automatic code generators for MPC to run a number of relevant MPC algorithms on the platform. From the results, we conclude that it is feasible to implement MPC on automotive ECUs for vehicle platooning and we further benchmark their performance in terms of MPC parameters such as prediction horizon and system dimension.

Cite as

Iñaki Martín Soroa, Amr Ibrahim, Dip Goswami, and Hong Li. Feasibility Study and Benchmarking of Embedded MPC for Vehicle Platoons. In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 2:1-2:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{martinsoroa_et_al:OASIcs.ASD.2019.2,
  author =	{Mart{\'\i}n Soroa, I\~{n}aki and Ibrahim, Amr and Goswami, Dip and Li, Hong},
  title =	{{Feasibility Study and Benchmarking of Embedded MPC for Vehicle Platoons}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{2:1--2:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.2},
  URN =		{urn:nbn:de:0030-drops-103359},
  doi =		{10.4230/OASIcs.ASD.2019.2},
  annote =	{Keywords: Model predictive control, vehicle platoon, embedded implementation, code generation}
}

Document

DOI: 10.4230/OASIcs.ASD.2019.3

IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink

Authors: Shota Tokunaga, Yuki Horita, Yasuhiro Oda, and Takuya Azumi

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

This paper proposes an integrated development framework that enables co-simulation and operation of a Robot Operating System (ROS)-based self-driving system using MATLAB/Simulink (IDF-Autoware). The management of self-driving systems is becoming more complex as the development of self-driving technology progresses. One approach to the development of self-driving systems is the use of ROS; however, the system used in the automotive industry is typically designed using MATLAB/Simulink, which can simulate and evaluate the models used for self-driving. These models are incompatible with ROS-based systems. To allow the two to be used in tandem, it is necessary to rewrite the C++ code and incorporate them into the ROS-based system, which makes development inefficient. Therefore, the proposed framework allows models created using MATLAB/Simulink to be used in a ROS-based self-driving system, thereby improving development efficiency. Furthermore, our evaluations of the proposed framework demonstrated its practical potential.

Cite as

Shota Tokunaga, Yuki Horita, Yasuhiro Oda, and Takuya Azumi. IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink. In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 3:1-3:9, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{tokunaga_et_al:OASIcs.ASD.2019.3,
  author =	{Tokunaga, Shota and Horita, Yuki and Oda, Yasuhiro and Azumi, Takuya},
  title =	{{IDF-Autoware: Integrated Development Framework for ROS-Based Self-Driving Systems Using MATLAB/Simulink}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{3:1--3:9},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.3},
  URN =		{urn:nbn:de:0030-drops-103367},
  doi =		{10.4230/OASIcs.ASD.2019.3},
  annote =	{Keywords: self-driving systems, framework, robot operating system (ROS), MATLAB/Simulink}
}

Document

DOI: 10.4230/OASIcs.ASD.2019.4

Controlling Concurrent Change - A Multiview Approach Toward Updatable Vehicle Automation Systems

Authors: Mischa Möstl, Marcus Nolte, Johannes Schlatow, and Rolf Ernst

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

The development of SAE Level 3+ vehicles [{SAE}, 2014] poses new challenges not only for the functional development, but also for design and development processes. Such systems consist of a growing number of interconnected functional, as well as hardware and software components, making safety design increasingly difficult. In order to cope with emergent behavior at the vehicle level, thorough systems engineering becomes a key requirement, which enables traceability between different design viewpoints. Ensuring traceability is a key factor towards an efficient validation and verification of such systems. Formal models can in turn assist in keeping track of how the different viewpoints relate to each other and how the interplay of components affects the overall system behavior. Based on experience from the project Controlling Concurrent Change, this paper presents an approach towards model-based integration and verification of a cause effect chain for a component-based vehicle automation system. It reasons on a cross-layer model of the resulting system, which covers necessary aspects of a design in individual architectural views, e.g. safety and timing. In the synthesis stage of integration, our approach is capable of inserting enforcement mechanisms into the design to ensure adherence to the model. We present a use case description for an environment perception system, starting with a functional architecture, which is the basis for componentization of the cause effect chain. By tying the vehicle architecture to the cross-layer integration model, we are able to map the reasoning done during verification to vehicle behavior.

Cite as

Mischa Möstl, Marcus Nolte, Johannes Schlatow, and Rolf Ernst. Controlling Concurrent Change - A Multiview Approach Toward Updatable Vehicle Automation Systems. In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 4:1-4:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{mostl_et_al:OASIcs.ASD.2019.4,
  author =	{M\"{o}stl, Mischa and Nolte, Marcus and Schlatow, Johannes and Ernst, Rolf},
  title =	{{Controlling Concurrent Change - A Multiview Approach Toward Updatable Vehicle Automation Systems}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{4:1--4:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.4},
  URN =		{urn:nbn:de:0030-drops-103376},
  doi =		{10.4230/OASIcs.ASD.2019.4},
  annote =	{Keywords: safety, behavior, functional, architecture, multi-view, automated driving}
}

Document

DOI: 10.4230/OASIcs.ASD.2019.5

Safety and Security Analysis of AEB for L4 Autonomous Vehicle Using STPA

Authors: Shefali Sharma, Adan Flores, Chris Hobbs, Jeff Stafford, and Sebastian Fischmeister

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

Autonomous vehicles (AVs) are coming to our streets. Due to the presence of highly complex software systems in AVs, there is a need for a new hazard analysis technique to meet stringent safety standards. System Theoretic Process Analysis (STPA), based on Systems Theoretic Accident Modeling and Processes (STAMP), is a powerful tool that can identify, define, analyze and mitigate hazards from the earliest conceptual stage deployment to the operation of a system. Applying STPA to autonomous vehicles demonstrates STPA's applicability to preliminary hazard analysis, alternative available, developmental tests, organizational design, and functional design of each unique safety operation. This paper describes the STPA process used to generate system design requirements for an Autonomous Emergency Braking (AEB) system using a top-down analysis approach to system safety. The paper makes the following contributions to practicing STPA for safety and security: 1) It describes the incorporation of safety and security analysis in one process and discusses the benefits of this; 2) It provides an improved, structural approach for scenario analysis, concentrating on safety and security; 3) It demonstrates the utility of STPA for gap analysis of existing designs in the automotive domain; 4) It provides lessons learned throughout the process of applying STPA and STPA-Sec .

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Shefali Sharma, Adan Flores, Chris Hobbs, Jeff Stafford, and Sebastian Fischmeister. Safety and Security Analysis of AEB for L4 Autonomous Vehicle Using STPA. In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 5:1-5:13, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{sharma_et_al:OASIcs.ASD.2019.5,
  author =	{Sharma, Shefali and Flores, Adan and Hobbs, Chris and Stafford, Jeff and Fischmeister, Sebastian},
  title =	{{Safety and Security Analysis of AEB for L4 Autonomous Vehicle Using STPA}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{5:1--5:13},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.5},
  URN =		{urn:nbn:de:0030-drops-103388},
  doi =		{10.4230/OASIcs.ASD.2019.5},
  annote =	{Keywords: Functional Safety, Security, STAMP, STPA, STPA-Sec, ISO 26262, AEB, Advanced Driver Assistance Systems (ADAS), Automated Vehicles, SoC (System-On-Chip)}
}

Document

DOI: 10.4230/OASIcs.ASD.2019.6

Towards a Formal Model of Recursive Self-Reflection

Authors: Axel Jantsch

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

Self-awareness holds the promise of better decision making based on a comprehensive assessment of a system’s own situation. Therefore it has been studied for more than ten years in a range of settings and applications. However, in the literature the term has been used in a variety of meanings and today there is no consensus on what features and properties it should include. In fact, researchers disagree on the relative benefits of a self-aware system compared to one that is very similar but lacks self-awareness. We sketch a formal model, and thus a formal definition, of self-awareness. The model is based on dynamic dataflow semantics and includes self-assessment, a simulation and an abstraction as facilitating techniques, which are modeled by spawning new dataflow actors in the system. Most importantly, it has a method to focus on any of its parts to make it a subject of analysis by applying abstraction, self-assessment and simulation. In particular, it can apply this process to itself, which we call recursive self-reflection. There is no arbitrary limit to this self-scrutiny except resource constraints.

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Axel Jantsch. Towards a Formal Model of Recursive Self-Reflection. In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 6:1-6:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{jantsch:OASIcs.ASD.2019.6,
  author =	{Jantsch, Axel},
  title =	{{Towards a Formal Model of Recursive Self-Reflection}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{6:1--6:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.6},
  URN =		{urn:nbn:de:0030-drops-103395},
  doi =		{10.4230/OASIcs.ASD.2019.6},
  annote =	{Keywords: Cyber-physical systems, self-aware systems, self-reflection, self-assessment}
}

Document

Interactive Presentation

DOI: 10.4230/OASIcs.ASD.2019.7

A Dependable Detection Mechanism for Intersection Management of Connected Autonomous Vehicles (Interactive Presentation)

Authors: Rachel Dedinsky, Mohammad Khayatian, Mohammadreza Mehrabian, and Aviral Shrivastava

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

Traffic intersections will become automated in the near future with the advent of Connected Autonomous Vehicles (CAVs). Researchers have proposed intersection management approaches that use the position and velocity that are reported by vehicles to compute a schedule for vehicles to safely and efficiently traverse the intersection. However, a vehicle may fail to follow intersection manager (IM) scheduling commands due to erroneous sensor readings or unexpected incidents like engine failure, which can cause an accident if the failure happens inside the intersection. Additionally, rogue vehicles can take the advantage of the IM by providing false position and velocity data and cause traffic congestion. In this paper, we present a new technique and infrastructure to detect anomalies and inform the IM. We propose a vision system that can monitor the position of incoming vehicles and provide real-time data for the IM. The IM can use this data to verify the trajectories of CAVs and broadcast a warning when a vehicle fails to follow commands, making the IM more resilient against attacks and false data. We implemented our method by building infrastructure for an intersection with 1/10 scale model CAVs. Results show our method, when combined with an IM dataflows, is more dependable in the event of a failure compared to an IM without it.

Cite as

Rachel Dedinsky, Mohammad Khayatian, Mohammadreza Mehrabian, and Aviral Shrivastava. A Dependable Detection Mechanism for Intersection Management of Connected Autonomous Vehicles (Interactive Presentation). In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 7:1-7:13, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{dedinsky_et_al:OASIcs.ASD.2019.7,
  author =	{Dedinsky, Rachel and Khayatian, Mohammad and Mehrabian, Mohammadreza and Shrivastava, Aviral},
  title =	{{A Dependable Detection Mechanism for Intersection Management of Connected Autonomous Vehicles}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{7:1--7:13},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.7},
  URN =		{urn:nbn:de:0030-drops-103408},
  doi =		{10.4230/OASIcs.ASD.2019.7},
  annote =	{Keywords: Connected Autonomous Vehicles, Intersection Management, Dependable Systems}
}

Document

Interactive Presentation

DOI: 10.4230/OASIcs.ASD.2019.8

TrueView: A LIDAR Only Perception System for Autonomous Vehicle (Interactive Presentation)

Authors: Mohammed Yazid Lachachi, Mohamed Ouslim, Smail Niar, and Abdelmalik Taleb-Ahmed

Published in: OASIcs, Volume 68, Workshop on Autonomous Systems Design (ASD 2019)

Abstract

Real time perception and understanding of the environment is essential for an autonomous vehicle. To obtain the most accurate perception, existing solutions propose to combine multiple sensors. However, a large number of embedded sensors in the vehicle implies to process a large amount of data thus increasing the system complexity and cost. In this work, we present a novel approach that uses only one LIDAR sensor. Our approach enables reducing the size and complexity of the used machine learning algorithm. A novel approach is proposed to generate multiple 2D representation from 3D points cloud using the LIDAR sensor. The obtained representation solves the sparsity and connectivity issues encountered with LIDAR-based solution.

Cite as

Mohammed Yazid Lachachi, Mohamed Ouslim, Smail Niar, and Abdelmalik Taleb-Ahmed. TrueView: A LIDAR Only Perception System for Autonomous Vehicle (Interactive Presentation). In Workshop on Autonomous Systems Design (ASD 2019). Open Access Series in Informatics (OASIcs), Volume 68, pp. 8:1-8:10, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2019)

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@InProceedings{lachachi_et_al:OASIcs.ASD.2019.8,
  author =	{Lachachi, Mohammed Yazid and Ouslim, Mohamed and Niar, Smail and Taleb-Ahmed, Abdelmalik},
  title =	{{TrueView: A LIDAR Only Perception System for Autonomous Vehicle}},
  booktitle =	{Workshop on Autonomous Systems Design (ASD 2019)},
  pages =	{8:1--8:10},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-102-3},
  ISSN =	{2190-6807},
  year =	{2019},
  volume =	{68},
  editor =	{Saidi, Selma and Ernst, Rolf and Ziegenbein, Dirk},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.ASD.2019.8},
  URN =		{urn:nbn:de:0030-drops-103411},
  doi =		{10.4230/OASIcs.ASD.2019.8},
  annote =	{Keywords: Ranging Data, Computer Vision, Machine Learning}
}

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