2 Search Results for "Steil, Patrick"

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.SEA.2023.16
Arc-Flags Meet Trip-Based Public Transit Routing

Authors: Ernestine Großmann, Jonas Sauer, Christian Schulz, and Patrick Steil

Published in: LIPIcs, Volume 265, 21st International Symposium on Experimental Algorithms (SEA 2023)

Abstract
We present Arc-Flag TB, a journey planning algorithm for public transit networks which combines Trip-Based Public Transit Routing (TB) with the Arc-Flags speedup technique. Compared to previous attempts to apply Arc-Flags to public transit networks, which saw limited success, our approach uses stronger pruning rules to reduce the search space. Our experiments show that Arc-Flag TB achieves a speedup of up to two orders of magnitude over TB, offering query times of less than a millisecond even on large countrywide networks. Compared to the state-of-the-art speedup technique Trip-Based Public Transit Routing Using Condensed Search Trees (TB-CST), our algorithm achieves similar query times but requires significantly less additional memory. Other state-of-the-art algorithms which achieve even faster query times, e.g., Public Transit Labeling, require enormous memory usage. In contrast, Arc-Flag TB offers a tradeoff between query performance and memory usage due to the fact that the number of regions in the network partition required by our algorithm is a configurable parameter. We also identify a previously undiscovered issue in the transfer precomputation of TB, which causes both TB-CST and Arc-Flag TB to answer some queries incorrectly. We provide discussion on how to resolve this issue in the future. Currently, Arc-Flag TB answers 1-6% of queries incorrectly, compared to over 20% for TB-CST on some networks.
Cite as

Ernestine Großmann, Jonas Sauer, Christian Schulz, and Patrick Steil. Arc-Flags Meet Trip-Based Public Transit Routing. In 21st International Symposium on Experimental Algorithms (SEA 2023). Leibniz International Proceedings in Informatics (LIPIcs), Volume 265, pp. 16:1-16:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@InProceedings{gromann_et_al:LIPIcs.SEA.2023.16,
  author =	{Gro{\ss}mann, Ernestine and Sauer, Jonas and Schulz, Christian and Steil, Patrick},
  title =	{{Arc-Flags Meet Trip-Based Public Transit Routing}},
  booktitle =	{21st International Symposium on Experimental Algorithms (SEA 2023)},
  pages =	{16:1--16:18},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-279-2},
  ISSN =	{1868-8969},
  year =	{2023},
  volume =	{265},
  editor =	{Georgiadis, Loukas},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.SEA.2023.16},
  URN =		{urn:nbn:de:0030-drops-183664},
  doi =		{10.4230/LIPIcs.SEA.2023.16},
  annote =	{Keywords: Public transit routing, graph algorithms, algorithm engineering}
}
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