25 Search Results for "Stoica, Ion"

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}
}
Artifact
Software
DOI: 10.4230/artifacts.25657
TURBO Control System for Utility-Aware Bandwidth Allocation

Authors: Peter Schafhalter, Alexander Krentsel, Hongbo Wei, Joseph E. Gonzalez, Sylvia Ratnasamy, Scott Shenker, and Ion Stoica

Abstract
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Peter Schafhalter, Alexander Krentsel, Hongbo Wei, Joseph E. Gonzalez, Sylvia Ratnasamy, Scott Shenker, Ion Stoica. TURBO Control System for Utility-Aware Bandwidth Allocation (Software, Source code for the TURBO system.). Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@misc{dagstuhl-artifact-25657,
   title = {{TURBO Control System for Utility-Aware Bandwidth Allocation}}, 
   author = {Schafhalter, Peter and Krentsel, Alexander and Wei, Hongbo and Gonzalez, Joseph E. and Ratnasamy, Sylvia and Shenker, Scott and Stoica, Ion},
   note = {Software, swhId: \href{https://archive.softwareheritage.org/swh:1:dir:099f3210e32198a611ad3063b61473610f373687;origin=https://www.github.com/NetSys/turbo;visit=swh:1:snp:74e95745483a7476e7f2da1ed7eca5a5daf84b71;anchor=swh:1:rev:6e81bb88b6da48fe6b244a8725ac3b6b552bd537}{\texttt{swh:1:dir:099f3210e32198a611ad3063b61473610f373687}} (visited on 2026-03-19)},
   url = {https://www.github.com/NetSys/turbo},
   doi = {10.4230/artifacts.25657},
}
Document
DOI: 10.4230/OASIcs.NINeS.2026.18
TURBO: Utility-Aware Bandwidth Allocation for Cloud-Augmented Autonomous Control

Authors: Peter Schafhalter, Alexander Krentsel, Hongbo Wei, Joseph E. Gonzalez, Sylvia Ratnasamy, Scott Shenker, and Ion Stoica

Published in: OASIcs, Volume 139, 1st New Ideas in Networked Systems (NINeS 2026)

Abstract
Autonomous driving system progress has been driven by improvements in machine learning (ML) models, whose computational demands now exceed what edge devices alone can provide. The cloud offers abundant compute, but the network has long been treated as an unreliable bottleneck rather than a co-equal part of the autonomous vehicle control loop. We argue that this separation is no longer tenable: safety-critical autonomy requires co-design of control, models, and network resource allocation itself. We introduce TURBO, a cloud-augmented control framework that addresses this challenge, formulating bandwidth allocation and control pipeline configuration across both the car and cloud as a joint optimization problem. TURBO maximizes benefit to the car while guaranteeing safety in the face of highly variable network conditions. We implement TURBO and evaluate it in both simulation and real-world deployment, showing it can improve average accuracy by up to 15.6%pt over existing on-vehicle-only pipelines. Our code is made available at www.github.com/NetSys/turbo.
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Peter Schafhalter, Alexander Krentsel, Hongbo Wei, Joseph E. Gonzalez, Sylvia Ratnasamy, Scott Shenker, and Ion Stoica. TURBO: Utility-Aware Bandwidth Allocation for Cloud-Augmented Autonomous Control. In 1st New Ideas in Networked Systems (NINeS 2026). Open Access Series in Informatics (OASIcs), Volume 139, pp. 18:1-18:34, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2026)

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@InProceedings{schafhalter_et_al:OASIcs.NINeS.2026.18,
  author =	{Schafhalter, Peter and Krentsel, Alexander and Wei, Hongbo and Gonzalez, Joseph E. and Ratnasamy, Sylvia and Shenker, Scott and Stoica, Ion},
  title =	{{TURBO: Utility-Aware Bandwidth Allocation for Cloud-Augmented Autonomous Control}},
  booktitle =	{1st New Ideas in Networked Systems (NINeS 2026)},
  pages =	{18:1--18:34},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-414-7},
  ISSN =	{2190-6807},
  year =	{2026},
  volume =	{139},
  editor =	{Argyraki, Katerina and Panda, Aurojit},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.NINeS.2026.18},
  URN =		{urn:nbn:de:0030-drops-256039},
  doi =		{10.4230/OASIcs.NINeS.2026.18},
  annote =	{Keywords: autonomous vehicles, bandwidth allocation, cloud computing, edge computing, machine learning}
}
Document
DOI: 10.4230/LIPIcs.OPODIS.2025.31
Fast Re-Routing in Networks: On the Complexity of Perfect Resilience

Authors: Matthias Bentert, Esra Ceylan, Valentin Hübner, Stefan Schmid, and Jiří Srba

Published in: LIPIcs, Volume 361, 29th International Conference on Principles of Distributed Systems (OPODIS 2025)

Abstract
To achieve fast recovery from link failures, most modern communication networks feature fully decentralized fast re-routing mechanisms. These re-routing mechanisms rely on pre-installed static re-routing rules at the nodes (the routers), which depend only on local failure information, namely on the failed links incident to the node. Ideally, a network is perfectly resilient: the re-routing rules ensure that packets are always successfully routed to their destinations as long as the source and the destination are still physically connected in the underlying network after the failures. Unfortunately, there are examples where achieving perfect resilience is not possible. Surprisingly, only very little is known about the algorithmic aspect of when and how perfect resilience can be achieved. We investigate the computational complexity of analyzing such local fast re-routing mechanisms. Our main result is a negative one: we show that even checking whether a given set of static re-routing rules ensures perfect resilience is coNP-complete. Additionally, we investigate other fundamental variations of the problem. In particular, we show that our coNP-completeness proof also applies to scenarios where the re-routing rules have specific patterns (known as skipping in the literature). On the positive side, for scenarios where nodes do not have information about the link from which a packet arrived (the so-called in-port), we present a linear-time algorithm to realize perfect resilience whenever possible (which we show can also be determined in linear time).
Cite as

Matthias Bentert, Esra Ceylan, Valentin Hübner, Stefan Schmid, and Jiří Srba. Fast Re-Routing in Networks: On the Complexity of Perfect Resilience. In 29th International Conference on Principles of Distributed Systems (OPODIS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 361, pp. 31:1-31:16, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{bentert_et_al:LIPIcs.OPODIS.2025.31,
  author =	{Bentert, Matthias and Ceylan, Esra and H\"{u}bner, Valentin and Schmid, Stefan and Srba, Ji\v{r}{\'\i}},
  title =	{{Fast Re-Routing in Networks: On the Complexity of Perfect Resilience}},
  booktitle =	{29th International Conference on Principles of Distributed Systems (OPODIS 2025)},
  pages =	{31:1--31:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-409-3},
  ISSN =	{1868-8969},
  year =	{2026},
  volume =	{361},
  editor =	{Arusoaie, Andrei and Onica, Emanuel and Spear, Michael and Tucci-Piergiovanni, Sara},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.OPODIS.2025.31},
  URN =		{urn:nbn:de:0030-drops-252040},
  doi =		{10.4230/LIPIcs.OPODIS.2025.31},
  annote =	{Keywords: routing in computer networks, fast re-route, perfect resilience, complexity}
}
Document
DOI: 10.4230/LIPIcs.FSTTCS.2025.21
Overlay Network Construction: Improved Overall and Node-Wise Message Complexity

Authors: Yi-Jun Chang, Yanyu Chen, and Gopinath Mishra

Published in: LIPIcs, Volume 360, 45th IARCS Annual Conference on Foundations of Software Technology and Theoretical Computer Science (FSTTCS 2025)

Abstract
We consider the problem of constructing distributed overlay networks, where nodes in a reconfigurable system can create or sever connections with nodes whose identifiers they know. Initially, each node knows only its own and its neighbors' identifiers, forming a local channel, while the evolving structure is termed the global channel. The goal is to reconfigure any connected graph into a desired topology, such as a bounded-degree expander graph or a well-formed tree (WFT) with a constant maximum degree and logarithmic diameter, minimizing the total number of rounds and message complexity. This problem mirrors real-world peer-to-peer network construction, where creating robust and efficient systems is desired. We study the overlay reconstruction problem in a network of n nodes in two models: GOSSIP-reply and HYBRID. In the GOSSIP-reply model, each node can send a message and receive a corresponding reply message in one round. In the HYBRID model, a node can send O(1) messages to each neighbor in the local channel and a total of O(log n) messages in the global channel. In both models, we propose protocols for WFT construction with O (n log n) message complexities using messages of O(log n) bits. In the GOSSIP-reply model, our protocol takes O(log n) rounds while in the HYBRID model, our protocol takes O(log² n) rounds. Both protocols use O (n log² n) bits of communication. We obtain improved bounds over prior work: GOSSIP-reply: A recent result by Dufoulon et al. (ITCS 2024) achieved O(log⁵ n) round complexity and O (n log⁵ n) message complexity using messages of at least Ω(log² n) bits in GOSSIP-reply. With messages of size O(log n), our protocol achieves an optimal round complexity of O(log n) and an improved message complexity of O(n log n). HYBRID: Götte et al. (Distributed Computing 2023) showed an optimal O(log n)-round algorithm with O(log² n) global messages per round which incurs a message complexity of Ω(m), where m is the number of edges in the initial topology. At the cost of increasing the round complexity to O(log² n) while using only O(log n) messages globally, our protocol achieves a message complexity that is independent of m. Our approach ensures that the total number of messages for node v, with degree deg(v) in the initial topology, is bounded by O(deg(v) + log n), while the algorithm of Götte et al. requires O(deg(v) + (log⁴ n)/(log log n)) messages per node.
Cite as

Yi-Jun Chang, Yanyu Chen, and Gopinath Mishra. Overlay Network Construction: Improved Overall and Node-Wise Message Complexity. In 45th IARCS Annual Conference on Foundations of Software Technology and Theoretical Computer Science (FSTTCS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 360, pp. 21:1-21:21, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{chang_et_al:LIPIcs.FSTTCS.2025.21,
  author =	{Chang, Yi-Jun and Chen, Yanyu and Mishra, Gopinath},
  title =	{{Overlay Network Construction: Improved Overall and Node-Wise Message Complexity}},
  booktitle =	{45th IARCS Annual Conference on Foundations of Software Technology and Theoretical Computer Science (FSTTCS 2025)},
  pages =	{21:1--21:21},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-406-2},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{360},
  editor =	{Aiswarya, C. and Mehta, Ruta and Roy, Subhajit},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.FSTTCS.2025.21},
  URN =		{urn:nbn:de:0030-drops-251025},
  doi =		{10.4230/LIPIcs.FSTTCS.2025.21},
  annote =	{Keywords: Distributed algorithms, Overlay networks, Expander graphs}
}
Document
DOI: 10.4230/LIPIcs.AFT.2025.35
On-Chain Decentralized Learning and Cost-Effective Inference for DeFi Attack Mitigation

Authors: Abdulrahman Alhaidari, Balaji Palanisamy, and Prashant Krishnamurthy

Published in: LIPIcs, Volume 354, 7th Conference on Advances in Financial Technologies (AFT 2025)

Abstract
Billions of dollars are lost every year in DeFi platforms by transactions exploiting business logic or accounting vulnerabilities. Existing defenses focus on static code analysis, public mempool screening, attacker contract detection, or trusted off-chain monitors, none of which prevents exploits submitted through private relays or malicious contracts that execute within the same block. We present the first decentralized, fully on-chain learning framework that: (i) performs gas-prohibitive computation on Layer-2 to reduce cost, (ii) propagates verified model updates to Layer-1, and (iii) enables gas-bounded, low-latency inference inside smart contracts. A novel Proof-of-Improvement (PoIm) protocol governs the training process and verifies each decentralized micro update as a self-verifying training transaction. Updates are accepted by PoIm only if they demonstrably improve at least one core metric (e.g., accuracy, F1-score, precision, or recall) on a public benchmark without degrading any of the other core metrics, while adversarial proposals get financially penalized through an adaptable test set for evolving threats. We develop quantization and loop-unrolling techniques that enable inference for logistic regression, SVM, MLPs, CNNs, and gated RNNs (with support for formally verified decision tree inference) within the Ethereum block gas limit, while remaining bit-exact to their off-chain counterparts, formally proven in Z3. We curate 298 unique real-world exploits (2020 - 2025) with 402 exploit transactions across eight EVM chains, collectively responsible for $3.74 B in losses. We demonstrate that on-chain ML governed by PoIm detects previously unseen attacks with over 97% attack detection accuracy and 82.0% F1. A single inference, such as one made via an external call, typically incurs zero cost. Fully on-chain inference consumes 57,603 gas (≈ $0.18) for linear models, 143,647 gas (≈ $0.49) for CNN(F2, K1), and 506,397 gas (≈ $1.77) for CNN(F8, K4) on L1 (e.g., Ethereum). Our results show that practical and continually evolving DeFi defenses can be embedded directly in protocol logic without trusted guardians, and our solution achieves highly cost-effective protection while filling a critical gap between vulnerability scanners and real-time transaction screening.
Cite as

Abdulrahman Alhaidari, Balaji Palanisamy, and Prashant Krishnamurthy. On-Chain Decentralized Learning and Cost-Effective Inference for DeFi Attack Mitigation. In 7th Conference on Advances in Financial Technologies (AFT 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 354, pp. 35:1-35:27, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{alhaidari_et_al:LIPIcs.AFT.2025.35,
  author =	{Alhaidari, Abdulrahman and Palanisamy, Balaji and Krishnamurthy, Prashant},
  title =	{{On-Chain Decentralized Learning and Cost-Effective Inference for DeFi Attack Mitigation}},
  booktitle =	{7th Conference on Advances in Financial Technologies (AFT 2025)},
  pages =	{35:1--35:27},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-400-0},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{354},
  editor =	{Avarikioti, Zeta and Christin, Nicolas},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.AFT.2025.35},
  URN =		{urn:nbn:de:0030-drops-247548},
  doi =		{10.4230/LIPIcs.AFT.2025.35},
  annote =	{Keywords: DeFi attacks, on-chain machine learning, decentralized learning, real-time defense}
}
Document
DOI: 10.4230/LIPIcs.ITP.2025.30
Nondeterministic Asynchronous Dataflow in Isabelle/HOL

Authors: Rafael Castro Gonçalves Silva, Laouen Fernet, and Dmitriy Traytel

Published in: LIPIcs, Volume 352, 16th International Conference on Interactive Theorem Proving (ITP 2025)

Abstract
We formalize nondeterministic asynchronous dataflow networks in Isabelle/HOL. Dataflow networks are comprised of operators that are capable of communicating with the network, performing silent computations, and making nondeterministic choices. We represent operators using a shallow embedding as codatatypes. Using this representation, we define standard asynchronous dataflow primitives, including sequential and parallel composition and a feedback operator. These primitives adhere to a number of laws from the literature, which we prove by coinduction using weak bisimilarity as our equality. Albeit coinductive and nondeterministic, our model is executable via code extraction to Haskell.
Cite as

Rafael Castro Gonçalves Silva, Laouen Fernet, and Dmitriy Traytel. Nondeterministic Asynchronous Dataflow in Isabelle/HOL. In 16th International Conference on Interactive Theorem Proving (ITP 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 352, pp. 30:1-30:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{silva_et_al:LIPIcs.ITP.2025.30,
  author =	{Silva, Rafael Castro Gon\c{c}alves and Fernet, Laouen and Traytel, Dmitriy},
  title =	{{Nondeterministic Asynchronous Dataflow in Isabelle/HOL}},
  booktitle =	{16th International Conference on Interactive Theorem Proving (ITP 2025)},
  pages =	{30:1--30:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-396-6},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{352},
  editor =	{Forster, Yannick and Keller, Chantal},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITP.2025.30},
  URN =		{urn:nbn:de:0030-drops-246280},
  doi =		{10.4230/LIPIcs.ITP.2025.30},
  annote =	{Keywords: dataflow, verification, coinduction, Isabelle/HOL}
}
Document
DOI: 10.4230/LIPIcs.ITC.2025.7
Linear-Time Secure Merge in O(loglog n) Rounds

Authors: Mark Blunk, Paul Bunn, Samuel Dittmer, Steve Lu, and Rafail Ostrovsky

Published in: LIPIcs, Volume 343, 6th Conference on Information-Theoretic Cryptography (ITC 2025)

Abstract
The problem of Secure Merge consists of combining two sorted lists (which are either held separately by two parties, or secret-shared among two or more parties), and outputting a single merged (sorted) list, secret-shared among all parties. Just as insecure algorithms for comparison-based sorting are slower than merging (i.e., for lists of size n, Θ(n log n) versus Θ(n)), we explore whether an analogous separation exists for secure protocols; namely, if there exist techniques for performing secure merge that are more performant than simply invoking secure sort. We answer this question affirmatively by constructing a secure merge protocol with optimal Θ(n) communication and computation, and Θ(log log n) rounds of communication. Our results are based solely on black-box use of basic secure primitives, such as secure comparison and secure shuffle. Since two-party secure primitives require computational assumptions, while three-party do not, our protocols achieve these bounds against semi-honest adversaries via a computationally secure two-party (resp. an information-theoretically secure three-party) secure merge protocol. Secure sort is a fundamental building block used in many MPC protocols, e.g., various private set intersection protocols and oblivious RAM protocols. More efficient secure sort can lead to concrete improvements in the overall run-time. Since secure sort can often be replaced by secure merge - as inputs (from different participating players) can be presorted - an efficient secure merge protocol has wide applicability. There are also a range of applications in the field of secure databases, including secure database joins, as well as updatable database storage and search, whereby secure merge can be used to insert new entries into an existing (sorted) database. In building our secure merge protocol, we develop several subprotocols that may be of independent interest. For example, we develop a protocol for secure asymmetric merge (when one list is much larger than the other).
Cite as

Mark Blunk, Paul Bunn, Samuel Dittmer, Steve Lu, and Rafail Ostrovsky. Linear-Time Secure Merge in O(loglog n) Rounds. In 6th Conference on Information-Theoretic Cryptography (ITC 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 343, pp. 7:1-7:23, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{blunk_et_al:LIPIcs.ITC.2025.7,
  author =	{Blunk, Mark and Bunn, Paul and Dittmer, Samuel and Lu, Steve and Ostrovsky, Rafail},
  title =	{{Linear-Time Secure Merge in O(loglog n) Rounds}},
  booktitle =	{6th Conference on Information-Theoretic Cryptography (ITC 2025)},
  pages =	{7:1--7:23},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-385-0},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{343},
  editor =	{Gilboa, Niv},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ITC.2025.7},
  URN =		{urn:nbn:de:0030-drops-243573},
  doi =		{10.4230/LIPIcs.ITC.2025.7},
  annote =	{Keywords: Secure Merge, Secure Sort, Secure Databases, Private Set Intersection}
}
Document
DOI: 10.4230/LIPIcs.GIScience.2025.13
Assessing Map Reproducibility with Visual Question-Answering: An Empirical Evaluation

Authors: Eftychia Koukouraki, Auriol Degbelo, and Christian Kray

Published in: LIPIcs, Volume 346, 13th International Conference on Geographic Information Science (GIScience 2025)

Abstract
Reproducibility is a key principle of the modern scientific method. Maps, as an important means of communicating scientific results in GIScience and across disciplines, should be reproducible. Currently, map reproducibility assessment is done manually, which makes the assessment process tedious and time-consuming, ultimately limiting its efficiency. Hence, this work explores the extent to which Visual Question-Answering (VQA) can be used to automate some tasks relevant to map reproducibility assessment. We selected five state-of-the-art vision language models (VLMs) and followed a three-step approach to evaluate their ability to discriminate between maps and other images, interpret map content, and compare two map images using VQA. Our results show that current VLMs already possess map-reading capabilities and demonstrate understanding of spatial concepts, such as cardinal directions, geographic scope, and legend interpretation. Our paper demonstrates the potential of using VQA to support reproducibility assessment and highlights the outstanding issues that need to be addressed to achieve accurate, trustworthy map descriptions, thereby reducing the time and effort required by human evaluators.
Cite as

Eftychia Koukouraki, Auriol Degbelo, and Christian Kray. Assessing Map Reproducibility with Visual Question-Answering: An Empirical Evaluation. In 13th International Conference on Geographic Information Science (GIScience 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 346, pp. 13:1-13:12, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{koukouraki_et_al:LIPIcs.GIScience.2025.13,
  author =	{Koukouraki, Eftychia and Degbelo, Auriol and Kray, Christian},
  title =	{{Assessing Map Reproducibility with Visual Question-Answering: An Empirical Evaluation}},
  booktitle =	{13th International Conference on Geographic Information Science (GIScience 2025)},
  pages =	{13:1--13:12},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-378-2},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{346},
  editor =	{Sila-Nowicka, Katarzyna and Moore, Antoni and O'Sullivan, David and Adams, Benjamin and Gahegan, Mark},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.GIScience.2025.13},
  URN =		{urn:nbn:de:0030-drops-238426},
  doi =		{10.4230/LIPIcs.GIScience.2025.13},
  annote =	{Keywords: map comparison, computational reproducibility, visual question answering, large language models, GeoAI}
}
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
Track A: Algorithms, Complexity and Games
DOI: 10.4230/LIPIcs.ICALP.2025.64
Fully Scalable MPC Algorithms for Euclidean k-Center

Authors: Artur Czumaj, Guichen Gao, Mohsen Ghaffari, and Shaofeng H.-C. Jiang

Published in: LIPIcs, Volume 334, 52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025)

Abstract
The k-center problem is a fundamental optimization problem with numerous applications in machine learning, data analysis, data mining, and communication networks. The k-center problem has been extensively studied in the classical sequential setting for several decades, and more recently there have been some efforts in understanding the problem in parallel computing, on the Massively Parallel Computation (MPC) model. For now, we have a good understanding of k-center in the case where each local MPC machine has sufficient local memory to store some representatives from each cluster, that is, when one has Ω(k) local memory per machine. While this setting covers the case of small values of k, for a large number of clusters these algorithms require undesirably large local memory, making them poorly scalable. The case of large k has been considered only recently for the fully scalable low-local-memory MPC model for the Euclidean instances of the k-center problem. However, the earlier works have been considering only the constant dimensional Euclidean space, required a super-constant number of rounds, and produced only k(1+o(1)) centers whose cost is a super-constant approximation of k-center. In this work, we significantly improve upon the earlier results for the k-center problem for the fully scalable low-local-memory MPC model. In the low dimensional Euclidean case in ℝ^d, we present the first constant-round fully scalable MPC algorithm for (2+ε)-approximation. We push the ratio further to (1 + ε)-approximation albeit using slightly more (1 + ε)k centers. All these results naturally extends to slightly super-constant values of d. In the high-dimensional regime, we provide the first fully scalable MPC algorithm that in a constant number of rounds achieves an O(log n/ log log n)-approximation for k-center.
Cite as

Artur Czumaj, Guichen Gao, Mohsen Ghaffari, and Shaofeng H.-C. Jiang. Fully Scalable MPC Algorithms for Euclidean k-Center. In 52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 334, pp. 64:1-64:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{czumaj_et_al:LIPIcs.ICALP.2025.64,
  author =	{Czumaj, Artur and Gao, Guichen and Ghaffari, Mohsen and Jiang, Shaofeng H.-C.},
  title =	{{Fully Scalable MPC Algorithms for Euclidean k-Center}},
  booktitle =	{52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025)},
  pages =	{64:1--64:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-372-0},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{334},
  editor =	{Censor-Hillel, Keren and Grandoni, Fabrizio and Ouaknine, Jo\"{e}l and Puppis, Gabriele},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ICALP.2025.64},
  URN =		{urn:nbn:de:0030-drops-234416},
  doi =		{10.4230/LIPIcs.ICALP.2025.64},
  annote =	{Keywords: Massively Parallel Computing, Euclidean Spaces, k-Center Clustering}
}
Document
Track A: Algorithms, Complexity and Games
DOI: 10.4230/LIPIcs.ICALP.2025.98
The Long Arm of Nashian Allocation in Online p-Mean Welfare Maximization

Authors: Zhiyi Huang, Chui Shan Lee, Xinkai Shu, and Zhaozi Wang

Published in: LIPIcs, Volume 334, 52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025)

Abstract
We study the online allocation of divisible items to n agents with additive valuations for p-mean welfare maximization, a problem introduced by Barman, Khan, and Maiti (2022). Our algorithmic and hardness results characterize the optimal competitive ratios for the entire spectrum of -∞ ≤ p ≤ 1. Surprisingly, our improved algorithms for all p ≤ (1)/(log n) are simply the greedy algorithm for the Nash welfare, supplemented with two auxiliary components to ensure all agents have non-zero utilities and to help a small number of agents with low utilities. In this sense, the long arm of Nashian allocation achieves near-optimal competitive ratios not only for Nash welfare but also all the way to egalitarian welfare.
Cite as

Zhiyi Huang, Chui Shan Lee, Xinkai Shu, and Zhaozi Wang. The Long Arm of Nashian Allocation in Online p-Mean Welfare Maximization. In 52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 334, pp. 98:1-98:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{huang_et_al:LIPIcs.ICALP.2025.98,
  author =	{Huang, Zhiyi and Lee, Chui Shan and Shu, Xinkai and Wang, Zhaozi},
  title =	{{The Long Arm of Nashian Allocation in Online p-Mean Welfare Maximization}},
  booktitle =	{52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025)},
  pages =	{98:1--98:18},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-372-0},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{334},
  editor =	{Censor-Hillel, Keren and Grandoni, Fabrizio and Ouaknine, Jo\"{e}l and Puppis, Gabriele},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ICALP.2025.98},
  URN =		{urn:nbn:de:0030-drops-234754},
  doi =		{10.4230/LIPIcs.ICALP.2025.98},
  annote =	{Keywords: Online Algorithms, Fair Division, Nash Welfare}
}
Document
Track A: Algorithms, Complexity and Games
DOI: 10.4230/LIPIcs.ICALP.2025.128
3.415-Approximation for Coflow Scheduling via Iterated Rounding

Authors: Lars Rohwedder and Leander Schnaars

Published in: LIPIcs, Volume 334, 52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025)

Abstract
We provide an algorithm giving a 140/41 (< 3.415)-approximation for Coflow Scheduling and a 4.36-approximation for Coflow Scheduling with release dates. This improves upon the best known 4- and respectively 5-approximations and addresses an open question posed by Agarwal, Rajakrishnan, Narayan, Agarwal, Shmoys, and Vahdat [Agarwal et al., 2018], Fukunaga [Fukunaga, 2022], and others. We additionally show that in an asymptotic setting, the algorithm achieves a (2+ε)-approximation, which is essentially optimal under ℙ ≠ NP. The improvements are achieved using a novel edge allocation scheme using iterated LP rounding together with a framework which enables establishing strong bounds for combinations of several edge allocation algorithms.
Cite as

Lars Rohwedder and Leander Schnaars. 3.415-Approximation for Coflow Scheduling via Iterated Rounding. In 52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 334, pp. 128:1-128:19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{rohwedder_et_al:LIPIcs.ICALP.2025.128,
  author =	{Rohwedder, Lars and Schnaars, Leander},
  title =	{{3.415-Approximation for Coflow Scheduling via Iterated Rounding}},
  booktitle =	{52nd International Colloquium on Automata, Languages, and Programming (ICALP 2025)},
  pages =	{128:1--128:19},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-372-0},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{334},
  editor =	{Censor-Hillel, Keren and Grandoni, Fabrizio and Ouaknine, Jo\"{e}l and Puppis, Gabriele},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ICALP.2025.128},
  URN =		{urn:nbn:de:0030-drops-235050},
  doi =		{10.4230/LIPIcs.ICALP.2025.128},
  annote =	{Keywords: Coflow Scheduling, Approximation Algorithms, Iterated Rounding}
}
Document
DOI: 10.4230/LIPIcs.ECOOP.2025.35
Chain of Grounded Objectives: Concise Goal-Oriented Prompting for Code Generation

Authors: Sangyeop Yeo, Seung-Won Hwang, and Yu-Seung Ma

Published in: LIPIcs, Volume 333, 39th European Conference on Object-Oriented Programming (ECOOP 2025)

Abstract
The use of Large Language Models (LLMs) for code generation has gained significant attention in recent years. Existing methods often aim to improve the quality of generated code by incorporating additional contextual information or guidance into input prompts. Many of these approaches adopt process-oriented reasoning strategies, mimicking human-like step-by-step thinking; however, they may not always align with the structured nature of programming languages. This paper introduces Chain of Grounded Objectives (CGO), a concise goal-oriented prompting approach that embeds functional objectives into prompts to enhance code generation. By focusing on precisely defined objectives rather than explicit procedural steps, CGO aligns more naturally with programming tasks while retaining flexibility. Empirical evaluations on HumanEval, MBPP, their extended versions, and LiveCodeBench show that CGO achieves accuracy comparable to or better than existing methods while using fewer tokens, making it a more efficient approach to LLM-based code generation.
Cite as

Sangyeop Yeo, Seung-Won Hwang, and Yu-Seung Ma. Chain of Grounded Objectives: Concise Goal-Oriented Prompting for Code Generation. In 39th European Conference on Object-Oriented Programming (ECOOP 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 333, pp. 35:1-35:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{yeo_et_al:LIPIcs.ECOOP.2025.35,
  author =	{Yeo, Sangyeop and Hwang, Seung-Won and Ma, Yu-Seung},
  title =	{{Chain of Grounded Objectives: Concise Goal-Oriented Prompting for Code Generation}},
  booktitle =	{39th European Conference on Object-Oriented Programming (ECOOP 2025)},
  pages =	{35:1--35:25},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-373-7},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{333},
  editor =	{Aldrich, Jonathan and Silva, Alexandra},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECOOP.2025.35},
  URN =		{urn:nbn:de:0030-drops-233271},
  doi =		{10.4230/LIPIcs.ECOOP.2025.35},
  annote =	{Keywords: Artificial Intelligence, Natural Language Processing, Prompt Design, Large Language Models, Code Generation}
}
Document
DOI: 10.4230/LIPIcs.ECOOP.2025.4
Ensuring Convergence and Invariants Without Coordination

Authors: Dina Borrego, Nuno Preguiça, Elisa Gonzalez Boix, and Carla Ferreira

Published in: LIPIcs, Volume 333, 39th European Conference on Object-Oriented Programming (ECOOP 2025)

Abstract
The CAP theorem demonstrates a trade-off between consistency and availability (and, by extension, latency) in systems where network partitions are unavoidable, such as in cloud computing and local-first software. While adopting weak consistency can preserve availability, it may result in inconsistencies that compromise application correctness. Replicated data types provide a principled, coordination-free approach to guarantee convergence but do not consider application invariants. Existing methods for maintaining invariants in replicated systems either rely on coordination - undermining the benefits of weak consistency - or suffer from limited applicability. This paper introduces the No-Op framework, a generic approach for enforcing consistency without coordination while guaranteeing both convergence and invariant preservation. The core idea of the No-Op approach is to resolve conflicts among concurrent operations by prioritising one operation over the other according to programmer-defined conflict resolution policies. This prioritisation transforms the less-preferred operation into a no-side-effect operation, ensuring conflict-free execution. We formalise the model underlying the No-Op framework and introduce a replication protocol built upon it, accompanied by a formal proof of correctness for both the framework and the protocol. Furthermore, we demonstrate the framework’s applicability by showcasing the design of widely used replicated data types and the preservation of a wide range of application invariants.
Cite as

Dina Borrego, Nuno Preguiça, Elisa Gonzalez Boix, and Carla Ferreira. Ensuring Convergence and Invariants Without Coordination. In 39th European Conference on Object-Oriented Programming (ECOOP 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 333, pp. 4:1-4:29, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{borrego_et_al:LIPIcs.ECOOP.2025.4,
  author =	{Borrego, Dina and Pregui\c{c}a, Nuno and Gonzalez Boix, Elisa and Ferreira, Carla},
  title =	{{Ensuring Convergence and Invariants Without Coordination}},
  booktitle =	{39th European Conference on Object-Oriented Programming (ECOOP 2025)},
  pages =	{4:1--4:29},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-373-7},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{333},
  editor =	{Aldrich, Jonathan and Silva, Alexandra},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.ECOOP.2025.4},
  URN =		{urn:nbn:de:0030-drops-232978},
  doi =		{10.4230/LIPIcs.ECOOP.2025.4},
  annote =	{Keywords: distributed systems, conflict resolution, RDTs, invariant preservation}
}
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