3 Search Results for "Shin, Kilho"

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.2025.5
RESCUE: Multi-Robot Planning Under Resource Uncertainty and Objective Criticality

Authors: Franco Cordeiro, Samuel Tardieu, and Laurent Pautet

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

Abstract
Robot planning in distributed systems, such as drone fleets performing active perception missions, presents complex challenges. These missions require cooperation to achieve objectives like collecting sensor data or capturing images. Multi-robot systems offer significant advantages, including faster execution and increased robustness, as robots can compensate for individual failures. However, resource costs, affected by environmental factors such as wind or terrain, are highly uncertain, impacting battery consumption and overall performance. Mission objectives are often prioritized by criticality, such as retrieving data from low-battery sensors to prevent data loss. Addressing these priorities requires sophisticated scheduling to navigate high-dimensional state-action spaces. While heuristics are useful for approximating solutions, few approaches extend to multi-robot systems or adequately address cost uncertainty and criticality, particularly during replanning. The Mixed-Criticality (MC) paradigm, extensively studied in real-time scheduling, provides a framework for handling cost uncertainty by ensuring the completion of high-critical tasks. Despite its potential, the application of MC in distributed systems remains limited. To address the decision-making challenges faced by distributed robots operating under cost uncertainty and objective criticality, we propose four contributions: a comprehensive model integrating criticality, uncertainty, and robustness; distributed synchronization and replanning mechanisms; the incorporation of mixed-criticality principles into multi-robot systems; and enhanced resilience against robot failures. We evaluated our solution, named RESCUE, in a simulated scenario and show how it increases the robustness by reducing the oversizing of the system and completing up to 40% more objectives. We found an increase in resilience of the multi-robot system as our solution not only guaranteed the safe return of every non-faulty robot, but also reduced the effects of a faulty robot by up to 14%. We also computed the performance gain compared to using MCTS in a single robot of up to 2.31 for 5 robots.
Cite as

Franco Cordeiro, Samuel Tardieu, and Laurent Pautet. RESCUE: Multi-Robot Planning Under Resource Uncertainty and Objective Criticality. In 37th Euromicro Conference on Real-Time Systems (ECRTS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 335, pp. 5:1-5:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{cordeiro_et_al:LIPIcs.ECRTS.2025.5,
  author =	{Cordeiro, Franco and Tardieu, Samuel and Pautet, Laurent},
  title =	{{RESCUE: Multi-Robot Planning Under Resource Uncertainty and Objective Criticality}},
  booktitle =	{37th Euromicro Conference on Real-Time Systems (ECRTS 2025)},
  pages =	{5:1--5:23},
  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.2025.5},
  URN =		{urn:nbn:de:0030-drops-235835},
  doi =		{10.4230/LIPIcs.ECRTS.2025.5},
  annote =	{Keywords: Multi-Robot Systems, Embedded Systems, Safety/Mixed-Critical Systems, Real-Time Systems, Monte-Carlo Tree Search}
}
Document
DOI: 10.4230/LIPIcs.CPM.2018.22
Linear-time algorithms for the subpath kernel

Authors: Kilho Shin and Taichi Ishikawa

Published in: LIPIcs, Volume 105, 29th Annual Symposium on Combinatorial Pattern Matching (CPM 2018)

Abstract
The subpath kernel is a useful positive definite kernel, which takes arbitrary rooted trees as input, no matter whether they are ordered or unordered, We first show that the subpath kernel can exhibit excellent classification performance in combination with SVM through an intensive experiment. Secondly, we develop a theory of irreducible trees, and then, using it as a rigid mathematical basis, reconstruct a bottom-up linear-time algorithm for the subtree kernel, which is a correction of an algorithm well-known in the literature. Thirdly, we show a novel top-down algorithm, with which we can realize a linear-time parallel-computing algorithm to compute the subpath kernel.
Cite as

Kilho Shin and Taichi Ishikawa. Linear-time algorithms for the subpath kernel. In 29th Annual Symposium on Combinatorial Pattern Matching (CPM 2018). Leibniz International Proceedings in Informatics (LIPIcs), Volume 105, pp. 22:1-22:13, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2018)

Copy BibTex To Clipboard

@InProceedings{shin_et_al:LIPIcs.CPM.2018.22,
  author =	{Shin, Kilho and Ishikawa, Taichi},
  title =	{{Linear-time algorithms for the subpath kernel}},
  booktitle =	{29th Annual Symposium on Combinatorial Pattern Matching (CPM 2018)},
  pages =	{22:1--22:13},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-074-3},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{105},
  editor =	{Navarro, Gonzalo and Sankoff, David and Zhu, Binhai},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CPM.2018.22},
  URN =		{urn:nbn:de:0030-drops-86877},
  doi =		{10.4230/LIPIcs.CPM.2018.22},
  annote =	{Keywords: tree, kernel, suffix tree}
}
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