5 Search Results for "Scordino, Claudio"

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)

Copy BibTex To Clipboard

@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.2025.1
A First Look at ROS 2 Applications Written in Asynchronous Rust

Authors: Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek

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

Abstract
The increasing popularity of the Rust programming language in building robotic applications using the Robot Operating System (ROS 2) raises questions about its real-time execution capabilities, particularly when employing asynchronous programming. Existing real-time scheduling and response-time analysis techniques for ROS 2 focus on applications written in C++ and do not address the unique execution models and challenges presented by Rust’s asynchronous programming paradigm. In this paper, we analyze the execution model of R2R - an asynchronous Rust ROS 2 bindings and various asynchronous Rust runtimes, comparing them with the execution model of C++ ROS 2 applications. We propose a structured approach for R2R applications aimed at deterministic real-time operation involving thread prioritization and callback-to-thread mapping schemes. Our experimental evaluation based on measuring end-to-end latencies of a synthetic application shows that the proposed approach is effective and outperforms other evaluated configurations. A more complex autonomous driving case study demonstrates its practical applicability. Overall, the experimental results indicate that our proposed structure achieves bounded response times for time-critical tasks. This paves the way for future work to adapt existing or develop new response-time analysis techniques for R2R applications using our structure.
Cite as

Martin Škoudlil, Michal Sojka, and Zdeněk Hanzálek. A First Look at ROS 2 Applications Written in Asynchronous Rust. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 1:1-1:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

Copy BibTex To Clipboard

@InProceedings{skoudlil_et_al:LIPIcs.ECRTS.2025.1,
  author =	{\v{S}koudlil, Martin and Sojka, Michal and Hanz\'{a}lek, Zden\v{e}k},
  title =	{{A First Look at ROS 2 Applications Written in Asynchronous Rust}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{1:1--1:21},
  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.2025.1},
  URN =		{urn:nbn:de:0030-drops-235794},
  doi =		{10.4230/LIPIcs.ECRTS.2025.1},
  annote =	{Keywords: ROS, Rust, Real-time, Response time}
}
Document
DOI: 10.4230/OASIcs.NG-RES.2025.4
H-MBR: Hypervisor-Level Memory Bandwidth Reservation for Mixed Criticality Systems

Authors: Afonso Oliveira, Diogo Costa, Gonçalo Moreira, José Martins, and Sandro Pinto

Published in: OASIcs, Volume 128, Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)

Abstract
Recent advancements in fields such as automotive and aerospace have driven a growing demand for robust computational resources. Applications that were once designed for basic Microcontroller Units (MCUs) are now deployed on highly heterogeneous System-on-Chip (SoC) platforms. While these platforms deliver the necessary computational performance, they also present challenges related to resource sharing and predictability. These challenges are particularly pronounced when consolidating safety-critical and non-safety-critical systems, the so-called Mixed-Criticality Systems (MCS) to adhere to strict Size, Weight, Power, and Cost (SWaP-C) requirements. MCS consolidation on shared platforms requires stringent spatial and temporal isolation to comply with functional safety standards (e.g., ISO 26262). Virtualization, mainly leveraged by hypervisors, is a key technology that ensures spatial isolation across multiple OSes and applications; however ensuring temporal isolation remains challenging due to contention on shared resources, such as main memory, caches, and system buses, which impacts real-time performance and predictability. To mitigate this problem, several strategies (e.g., cache coloring and memory bandwidth reservation) have been proposed. Although cache coloring is typically implemented on state-of-the-art hypervisors, memory bandwidth reservation approaches are commonly implemented at the Linux kernel level or rely on dedicated hardware and typically do not consider the concept of Virtual Machines that can run different OSes. To fill the gap between current memory bandwidth reservation solutions and the deployment of MCSs that operate on a hypervisor, this work introduces H-MBR, an open-source VM-centric memory bandwidth reservation mechanism. H-MBR features (i) VM-centric bandwidth reservation, (ii) OS and platform agnosticism, and (iii) reduced overhead. Empirical results evidenced no overhead on non-regulated workloads, and negligible overhead (<1%) for regulated workloads for regulation periods of 2 µs or higher.
Cite as

Afonso Oliveira, Diogo Costa, Gonçalo Moreira, José Martins, and Sandro Pinto. H-MBR: Hypervisor-Level Memory Bandwidth Reservation for Mixed Criticality Systems. In Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025). Open Access Series in Informatics (OASIcs), Volume 128, pp. 4:1-4:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

Copy BibTex To Clipboard

@InProceedings{oliveira_et_al:OASIcs.NG-RES.2025.4,
  author =	{Oliveira, Afonso and Costa, Diogo and Moreira, Gon\c{c}alo and Martins, Jos\'{e} and Pinto, Sandro},
  title =	{{H-MBR: Hypervisor-Level Memory Bandwidth Reservation for Mixed Criticality Systems}},
  booktitle =	{Sixth Workshop on Next Generation Real-Time Embedded Systems (NG-RES 2025)},
  pages =	{4:1--4:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-366-9},
  ISSN =	{2190-6807},
  year =	{2025},
  volume =	{128},
  editor =	{Yomsi, Patrick Meumeu and Wildermann, Stefan},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NG-RES.2025.4},
  URN =		{urn:nbn:de:0030-drops-229905},
  doi =		{10.4230/OASIcs.NG-RES.2025.4},
  annote =	{Keywords: Virtualization, Multi-core Interference, Mixed-Criticality Systems, Arm, Memory Bandwidth Reservation}
}
Document
DOI: 10.4230/OASIcs.PARMA-DITAM.2025.6
HiPART: High-Performance Technology for Advanced Real-Time Systems

Authors: Sara Royuela, Adrian Munera, Chenle Yu, and Josep Pinot

Published in: OASIcs, Volume 127, 16th Workshop on Parallel Programming and Run-Time Management Techniques for Many-Core Architectures and 14th Workshop on Design Tools and Architectures for Multicore Embedded Computing Platforms (PARMA-DITAM 2025)

Abstract
Cyber-physical systems (CPS) attempt to meet real-time and safety requirements by using hypervisors that provide isolation via virtualisation and Real-Time Operating Systems that manage the concurrency of system tasks. However, the operating system’s (OS) decisions may hinder the efficiency of tasks because it needs more awareness of their specific intricacies. Hence, one critical limitation to efficiently developing CPSs is the lack of tailored parallel programming models that can harness the capabilities of advanced heterogeneous architectures while meeting the requirements integral to CPSs, such as real-time behaviour and safety requirements. While conventional HPC languages, like OpenMP and CUDA, cannot accommodate critical non-functional properties, safety languages, like Rust and Ada, are limited in their capabilities to exploit complex systems efficiently. On top of that, accessibility to the programming task is essential to making the system usable to different domain experts. HiPART tackles these challenges by developing a comprehensive framework holistically addressing efficiency, interoperability, reliability, and sustainability. The HiPART framework, based on OpenMP, provides tailored support for (1) real-time behaviour and safety requirements and (2) the efficient exploitation of advanced parallel and heterogeneous processor architectures. This support is exposed to users through extensions to the OpenMP specification and its implementation in the LLVM framework, including the compiler and the OpenMP runtime library. With this framework, HiPART will contribute to realising more capable and reliable autonomous systems across various domains, from autonomous mobility to space exploration.
Cite as

Sara Royuela, Adrian Munera, Chenle Yu, and Josep Pinot. HiPART: High-Performance Technology for Advanced Real-Time Systems. In 16th Workshop on Parallel Programming and Run-Time Management Techniques for Many-Core Architectures and 14th Workshop on Design Tools and Architectures for Multicore Embedded Computing Platforms (PARMA-DITAM 2025). Open Access Series in Informatics (OASIcs), Volume 127, pp. 6:1-6:15, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

Copy BibTex To Clipboard

@InProceedings{royuela_et_al:OASIcs.PARMA-DITAM.2025.6,
  author =	{Royuela, Sara and Munera, Adrian and Yu, Chenle and Pinot, Josep},
  title =	{{HiPART: High-Performance Technology for Advanced Real-Time Systems}},
  booktitle =	{16th Workshop on Parallel Programming and Run-Time Management Techniques for Many-Core Architectures and 14th Workshop on Design Tools and Architectures for Multicore Embedded Computing Platforms (PARMA-DITAM 2025)},
  pages =	{6:1--6:15},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-363-8},
  ISSN =	{2190-6807},
  year =	{2025},
  volume =	{127},
  editor =	{Cattaneo, Daniele and Fazio, Maria and Kosmidis, Leonidas and Morabito, Gabriele},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.PARMA-DITAM.2025.6},
  URN =		{urn:nbn:de:0030-drops-229108},
  doi =		{10.4230/OASIcs.PARMA-DITAM.2025.6},
  annote =	{Keywords: Cyber-physical systems, OpenMP, Parallel and heterogeneous architectures, Efficiency, Adaptability, Interoperability, Real-time, Resilience, Reliability}
}
Document
DOI: 10.4230/LIPIcs.ECRTS.2023.9
Bounding the Data-Delivery Latency of DDS Messages in Real-Time Applications

Authors: Gerlando Sciangula, Daniel Casini, Alessandro Biondi, Claudio Scordino, and Marco Di Natale

Published in: LIPIcs, Volume 262, 35th Euromicro Conference on Real-Time Systems (ECRTS 2023)

Abstract
Many modern applications need to run on massively interconnected sets of heterogeneous nodes, ranging from IoT devices to edge nodes up to the Cloud. In this scenario, communication is often implemented using the publish-subscribe paradigm. The Data Distribution Service (DDS) is a popular middleware specification adopting such a paradigm. The DDS is becoming a key enabler for massively distributed real-time applications, with popular frameworks such as ROS 2 and AUTOSAR Adaptive building on it. However, no formal modeling and analysis of the timing properties of DDS has been provided to date. This paper fills this gap by providing an abstract model for DDS systems that can be generalized to any implementation compliant with the specification. A concrete instance of the generic DDS model is provided for the case of eProsima’s FastDDS, which is eventually used to provide a real-time analysis that bounds the data-delivery latency of DDS messages. Finally, this paper reports on an evaluation based on a representative automotive application from the WATERS 2019 challenge by Bosch.
Cite as

Gerlando Sciangula, Daniel Casini, Alessandro Biondi, Claudio Scordino, and Marco Di Natale. Bounding the Data-Delivery Latency of DDS Messages in Real-Time Applications. In 35th Euromicro Conference on Real-Time Systems (ECRTS 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 262, pp. 9:1-9:26, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

Copy BibTex To Clipboard

@InProceedings{sciangula_et_al:LIPIcs.ECRTS.2023.9,
  author =	{Sciangula, Gerlando and Casini, Daniel and Biondi, Alessandro and Scordino, Claudio and Di Natale, Marco},
  title =	{{Bounding the Data-Delivery Latency of DDS Messages in Real-Time Applications}},
  booktitle =	{35th Euromicro Conference on Real-Time Systems (ECRTS 2023)},
  pages =	{9:1--9:26},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-280-8},
  ISSN =	{1868-8969},
  year =	{2023},
  volume =	{262},
  editor =	{Papadopoulos, Alessandro V.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECRTS.2023.9},
  URN =		{urn:nbn:de:0030-drops-180381},
  doi =		{10.4230/LIPIcs.ECRTS.2023.9},
  annote =	{Keywords: DDS, real-time systems, response-time analysis, end-to-end latency, CPA}
}
  • Refine by Type
  • 5 Document/PDF
  • 3 Document/HTML

  • Refine by Publication Year
  • 1 2026
  • 3 2025
  • 1 2023

  • Refine by Author
  • 2 Casini, Daniel
  • 1 Biondi, Alessandro
  • 1 Chen, Jian-Jia
  • 1 Costa, Diogo
  • 1 Di Natale, Marco
  • Show More...

  • Refine by Series/Journal
  • 2 LIPIcs
  • 2 OASIcs
  • 1 LITES

  • Refine by Classification
  • 2 Software and its engineering → Real-time schedulability
  • 2 Software and its engineering → Real-time systems software
  • 1 Computer systems organization → Embedded and cyber-physical systems
  • 1 Computer systems organization → Embedded software
  • 1 Computer systems organization → Parallel architectures
  • Show More...

  • Refine by Keyword
  • 2 Real-time
  • 1 Adaptability
  • 1 Arm
  • 1 CPA
  • 1 Cyber-physical systems
  • Show More...

Any Issues?
X

Feedback on the Current Page

CAPTCHA

Thanks for your feedback!

Feedback submitted to Dagstuhl Publishing

Could not send message

Please try again later or send an E-mail
© 2023-2026 Schloss Dagstuhl – LZI GmbH Schloss Dagstuhl – LZI GmbH About DROPS Imprint Privacy Contact