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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.OPODIS.2025.12

Efficient Byzantine Reliable Broadcast in the Failure Case

Authors: Thomas Locher

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

Abstract

Reliable broadcast is a fundamental primitive in distributed computing that is widely used in various applications. Several new reliable broadcast algorithms have been presented in recent years, primarily focusing on reducing the communication complexity, which is the total number of exchanged bits in the worst case. While significant progress has been achieved, all proposed algorithms share a common weakness. Executions may fail, i.e., no message is ever delivered, while incurring a communication complexity equal or nearly equal to the communication complexity of executions where a message is delivered. In fact, a single Byzantine node, acting as the dedicated sender, is sufficient to trigger such executions, causing all nodes to consume bandwidth in vain. This paper introduces the novel concept of a reliable broadcast detector, a distributed algorithm that can be coupled with a reliable broadcast algorithm to minimize the communication complexity of failed executions. Two concrete detectors are presented with different requirements and properties. Additionally, reliable broadcast algorithms that utilize detectors are introduced, the main algorithm guaranteeing an overhead factor, compared to an ideal failure-free execution, that tends to 2 as the network size increases. Furthermore, a lower bound is proven that an overhead factor of 5/3 is inevitable when the sender initially broadcasts the message, as is the case for the proposed algorithm. Therefore, it achieves a bound that is close to optimal for any algorithm with this property.

Cite as

Thomas Locher. Efficient Byzantine Reliable Broadcast in the Failure Case. In 29th International Conference on Principles of Distributed Systems (OPODIS 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 361, pp. 12:1-12:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{locher:LIPIcs.OPODIS.2025.12,
  author =	{Locher, Thomas},
  title =	{{Efficient Byzantine Reliable Broadcast in the Failure Case}},
  booktitle =	{29th International Conference on Principles of Distributed Systems (OPODIS 2025)},
  pages =	{12:1--12:20},
  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.2025.12},
  URN =		{urn:nbn:de:0030-drops-251854},
  doi =		{10.4230/LIPIcs.OPODIS.2025.12},
  annote =	{Keywords: asynchronous networks, reliable broadcast, communication complexity}
}

Document

DOI: 10.4230/LIPIcs.DISC.2025.42

Kudzu: Fast and Simple High-Throughput BFT

Authors: Victor Shoup, Jakub Sliwinski, and Yann Vonlanthen

Published in: LIPIcs, Volume 356, 39th International Symposium on Distributed Computing (DISC 2025)

Abstract

We present Kudzu, a high-throughput atomic broadcast protocol with an integrated fast path. Our contribution is based on the combination of two lines of work. Firstly, our protocol achieves finality in just two rounds of communication if all but p out of n = 3f + 2p + 1 participating replicas behave correctly, where f is the number of Byzantine faults that are tolerated. Due to the seamless integration of the fast path, even in the presence of more than p faults, our protocol maintains state-of-the-art characteristics. Secondly, our protocol utilizes the bandwidth of participating replicas in a balanced way, alleviating the bottleneck at the leader, and thus enabling high throughput. This is achieved by disseminating blocks using erasure codes. Despite combining a novel set of advantages, Kudzu is remarkably simple: intricacies such as "progress certificates", complex view changes, and speculative execution are avoided.

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Victor Shoup, Jakub Sliwinski, and Yann Vonlanthen. Kudzu: Fast and Simple High-Throughput BFT. In 39th International Symposium on Distributed Computing (DISC 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 356, pp. 42:1-42:19, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{shoup_et_al:LIPIcs.DISC.2025.42,
  author =	{Shoup, Victor and Sliwinski, Jakub and Vonlanthen, Yann},
  title =	{{Kudzu: Fast and Simple High-Throughput BFT}},
  booktitle =	{39th International Symposium on Distributed Computing (DISC 2025)},
  pages =	{42:1--42:19},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-402-4},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{356},
  editor =	{Kowalski, Dariusz R.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.DISC.2025.42},
  URN =		{urn:nbn:de:0030-drops-248597},
  doi =		{10.4230/LIPIcs.DISC.2025.42},
  annote =	{Keywords: Consensus, Blockchain, Byzantine Fault Tolerance, Fast Path, State Machine Replication}
}

Document

DOI: 10.4230/LIPIcs.DISC.2025.1

ABEL: Perfect Asynchronous Byzantine Extension from List-Decoding

Authors: Ittai Abraham and Gilad Asharov

Published in: LIPIcs, Volume 356, 39th International Symposium on Distributed Computing (DISC 2025)

Abstract

Asynchronous byzantine agreement extension studies the message complexity of L-bit multivalued asynchronous byzantine agreement given access to a binary asynchronous Byzantine agreement protocol. We prove that asynchronous byzantine agreement extension can be solved with perfect security and optimal resilience in O(nL+n² log n) total communication (in bits) in addition to a single call to a binary asynchronous Byzantine agreement protocol. For L = O(n log n), this gives an asymptotically optimal protocol, resolving a question that remained open for nearly two decades. List decoding is a fundamental concept in theoretical computer science and cryptography, enabling error correction beyond the unique decoding radius and playing a critical role in constructing robust codes, hardness amplification, and secure cryptographic protocols. A key novelty of our perfectly secure and optimally resilient asynchronous byzantine agreement extension protocol is that it uses list decoding - making a striking new connection between list decoding and asynchronous Byzantine agreement.

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Ittai Abraham and Gilad Asharov. ABEL: Perfect Asynchronous Byzantine Extension from List-Decoding. In 39th International Symposium on Distributed Computing (DISC 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 356, pp. 1:1-1:20, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{abraham_et_al:LIPIcs.DISC.2025.1,
  author =	{Abraham, Ittai and Asharov, Gilad},
  title =	{{ABEL: Perfect Asynchronous Byzantine Extension from List-Decoding}},
  booktitle =	{39th International Symposium on Distributed Computing (DISC 2025)},
  pages =	{1:1--1:20},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-402-4},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{356},
  editor =	{Kowalski, Dariusz R.},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.DISC.2025.1},
  URN =		{urn:nbn:de:0030-drops-248185},
  doi =		{10.4230/LIPIcs.DISC.2025.1},
  annote =	{Keywords: Asynchronous Byzantine Agreement, Perfect Security}
}

Document

DOI: 10.4230/LIPIcs.AFT.2025.5

Blockchain Governance via Sharp Anonymous Multisignatures

Authors: Wonseok Choi, Xiangyu Liu, and Vassilis Zikas

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

Abstract

Electronic voting has occupied a large part of the cryptographic protocols literature. The recent reality of blockchains - in particular, their need for online governance mechanisms - has brought new parameters and requirements to the problem. We identify the key requirements of a blockchain governance mechanism, namely correctness (including eliminative double votes), voter anonymity, and traceability, and investigate mechanisms that can achieve them with minimal interaction and under assumptions that fit the blockchain setting. First, we define a signature-like primitive, which we term sharp anonymous multisignatures (in short, ♯AMS) that tightly meets the needs of blockchain governance. In a nutshell, ♯AMSs allow any set of parties to generate a signature, e.g., on a proposal to be voted upon, which, if posted on the blockchain, hides the identities of the signers/voters but reveals their number. This can be seen as a (strict) generalization of threshold ring signatures (TRS). We next turn to constructing such ♯AMSs and using them in various governance scenarios - e.g., single vote vs. multiple votes per voter. In this direction, although the definition of TRS does not imply ♯AMS, one can compile some existing TRS constructions into ♯AMS. This raises the question: What is the TRS structure that allows such a compilation? To answer the above, we devise templates for TRSs. Our templates encapsulate and abstract the structure that allows for the above compilation - most of the TRS schemes that can be compiled into ♯AMS are, in fact, instantiations of our template. This abstraction makes our template generic for instantiating TRSs and ♯AMSs from different cryptographic assumptions (e.g., DDH, LWE, etc.). One of our templates is based on chameleon hashes, and we explore a framework of lossy chameleon hashes to understand their nature fully. Finally, we turn to how ♯AMS schemes can be used in our applications. We provide fast (in some cases non-interactive) ♯AMS-based blockchain governance mechanisms for a wide spectrum of assumptions on the honesty (semi-honest vs malicious) and availability of voters and proposers.

Cite as

Wonseok Choi, Xiangyu Liu, and Vassilis Zikas. Blockchain Governance via Sharp Anonymous Multisignatures. In 7th Conference on Advances in Financial Technologies (AFT 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 354, pp. 5:1-5:24, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{choi_et_al:LIPIcs.AFT.2025.5,
  author =	{Choi, Wonseok and Liu, Xiangyu and Zikas, Vassilis},
  title =	{{Blockchain Governance via Sharp Anonymous Multisignatures}},
  booktitle =	{7th Conference on Advances in Financial Technologies (AFT 2025)},
  pages =	{5:1--5:24},
  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.2025.5},
  URN =		{urn:nbn:de:0030-drops-247242},
  doi =		{10.4230/LIPIcs.AFT.2025.5},
  annote =	{Keywords: Blockchain, E-voting, Threshold Ring Signatures, Threshold Cryptography}
}

Document

DOI: 10.4230/LIPIcs.CP.2025.33

Constraint-Based In-Station Train Dispatching

Authors: Andreas Schutt, Matteo Cardellini, Jip J. Dekker, Daniel Harabor, Marco Maratea, and Mauro Vallati

Published in: LIPIcs, Volume 340, 31st International Conference on Principles and Practice of Constraint Programming (CP 2025)

Abstract

In-station dispatching is the problem of planning the movements of scheduled trains inside a railway station. Effective solutions for in-station dispatching are important for maximising the utilisation of railway infrastructure and for mitigating the impact of incidents and delays in the broader network. In this paper, we explore a constraint-based approach to perform in-station train dispatching. Our extensive empirical analysis of multiple modelling, search strategy, and solver choices, performed over synthetically generated, yet realistic, data, shows that our method outperforms the existing planning-based state-of-the-art approach. In addition, we present different optimisation criteria, which can be effortless defined thanks to the constraint-based approach.

Cite as

Andreas Schutt, Matteo Cardellini, Jip J. Dekker, Daniel Harabor, Marco Maratea, and Mauro Vallati. Constraint-Based In-Station Train Dispatching. In 31st International Conference on Principles and Practice of Constraint Programming (CP 2025). Leibniz International Proceedings in Informatics (LIPIcs), Volume 340, pp. 33:1-33:24, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@InProceedings{schutt_et_al:LIPIcs.CP.2025.33,
  author =	{Schutt, Andreas and Cardellini, Matteo and Dekker, Jip J. and Harabor, Daniel and Maratea, Marco and Vallati, Mauro},
  title =	{{Constraint-Based In-Station Train Dispatching}},
  booktitle =	{31st International Conference on Principles and Practice of Constraint Programming (CP 2025)},
  pages =	{33:1--33:24},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-380-5},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{340},
  editor =	{de la Banda, Maria Garcia},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.CP.2025.33},
  URN =		{urn:nbn:de:0030-drops-238941},
  doi =		{10.4230/LIPIcs.CP.2025.33},
  annote =	{Keywords: in-station train dispatching, train scheduling, railway scheduling, constraint programming, mixed-integer programming}
}

Document

Survey

DOI: 10.4230/TGDK.3.1.3

Uncertainty Management in the Construction of Knowledge Graphs: A Survey

Authors: Lucas Jarnac, Yoan Chabot, and Miguel Couceiro

Published in: TGDK, Volume 3, Issue 1 (2025). Transactions on Graph Data and Knowledge, Volume 3, Issue 1

Abstract

Knowledge Graphs (KGs) are a major asset for companies thanks to their great flexibility in data representation and their numerous applications, e.g., vocabulary sharing, Q&A or recommendation systems. To build a KG, it is a common practice to rely on automatic methods for extracting knowledge from various heterogeneous sources. However, in a noisy and uncertain world, knowledge may not be reliable and conflicts between data sources may occur. Integrating unreliable data would directly impact the use of the KG, therefore such conflicts must be resolved. This could be done manually by selecting the best data to integrate. This first approach is highly accurate, but costly and time-consuming. That is why recent efforts focus on automatic approaches, which represent a challenging task since it requires handling the uncertainty of extracted knowledge throughout its integration into the KG. We survey state-of-the-art approaches in this direction and present constructions of both open and enterprise KGs. We then describe different knowledge extraction methods and discuss downstream tasks after knowledge acquisition, including KG completion using embedding models, knowledge alignment, and knowledge fusion in order to address the problem of knowledge uncertainty in KG construction. We conclude with a discussion on the remaining challenges and perspectives when constructing a KG taking into account uncertainty.

Cite as

Lucas Jarnac, Yoan Chabot, and Miguel Couceiro. Uncertainty Management in the Construction of Knowledge Graphs: A Survey. In Transactions on Graph Data and Knowledge (TGDK), Volume 3, Issue 1, pp. 3:1-3:48, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2025)

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@Article{jarnac_et_al:TGDK.3.1.3,
  author =	{Jarnac, Lucas and Chabot, Yoan and Couceiro, Miguel},
  title =	{{Uncertainty Management in the Construction of Knowledge Graphs: A Survey}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{3:1--3:48},
  ISSN =	{2942-7517},
  year =	{2025},
  volume =	{3},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.3.1.3},
  URN =		{urn:nbn:de:0030-drops-233733},
  doi =		{10.4230/TGDK.3.1.3},
  annote =	{Keywords: Knowledge reconciliation, Uncertainty, Heterogeneous sources, Knowledge graph construction}
}

Document

DOI: 10.4230/LIPIcs.OPODIS.2024.16

Byzantine Reliable Broadcast with Low Communication and Time Complexity

Authors: Thomas Locher

Published in: LIPIcs, Volume 324, 28th International Conference on Principles of Distributed Systems (OPODIS 2024)

Abstract

Byzantine reliable broadcast is a fundamental problem in distributed computing, which has been studied extensively over the past decades. State-of-the-art algorithms are predominantly based on the approach to share encoded fragments of the broadcast message, yielding an asymptotically optimal communication complexity when the message size exceeds the network size, a condition frequently encountered in practice. However, algorithms following the standard coding approach incur an overhead factor of at least 3, which can already be a burden for bandwidth-constrained applications. Minimizing this overhead is an important objective with immediate benefits to protocols that use a reliable broadcast routine as a building block. This paper introduces a novel mechanism to lower the communication and computational complexity. Two algorithms are presented that employ this mechanism to reliably broadcast messages in an asynchronous network where less than a third of all nodes are Byzantine. The first algorithm reduces the overhead factor to 2 and has a time complexity of 3 if the sender is honest, whereas the second algorithm attains an optimal time complexity of 2 with the same overhead factor in the absence of equivocation. Moreover, an optimization is proposed that reduces the overhead factor to 3/2 under normal operation in practice. Lastly, a lower bound is proved that an overhead factor lower than 3/2 cannot be achieved for a relevant class of reliable broadcast algorithms.

Cite as

Thomas Locher. Byzantine Reliable Broadcast with Low Communication and Time Complexity. In 28th International Conference on Principles of Distributed Systems (OPODIS 2024). Leibniz International Proceedings in Informatics (LIPIcs), Volume 324, pp. 16:1-16:17, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{locher:LIPIcs.OPODIS.2024.16,
  author =	{Locher, Thomas},
  title =	{{Byzantine Reliable Broadcast with Low Communication and Time Complexity}},
  booktitle =	{28th International Conference on Principles of Distributed Systems (OPODIS 2024)},
  pages =	{16:1--16:17},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-360-7},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{324},
  editor =	{Bonomi, Silvia and Galletta, Letterio and Rivi\`{e}re, Etienne and Schiavoni, Valerio},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.OPODIS.2024.16},
  URN =		{urn:nbn:de:0030-drops-225524},
  doi =		{10.4230/LIPIcs.OPODIS.2024.16},
  annote =	{Keywords: Asynchronous Networks, Reliable Broadcast, Communication Complexity}
}

Document

DOI: 10.4230/LIPIcs.OPODIS.2024.20

How Robust Are Synchronous Consensus Protocols?

Authors: Nenad Milošević, Daniel Cason, Zarko Milošević, and Fernando Pedone

Published in: LIPIcs, Volume 324, 28th International Conference on Principles of Distributed Systems (OPODIS 2024)

Abstract

Synchronous Byzantine fault-tolerant (BFT) protocols have long been a reality in an academic setting, yet their practicality remains debated. The main concern of skeptics of synchronous systems is that the correctness of these protocols depends on the timely delivery of all messages within a predefined synchronous bound, Δ. This dependency creates a challenging tradeoff between protocol correctness and performance, as Δ directly impacts both. In this paper, we examine this tradeoff in detail. Specifically, we introduce BoundBFT, a new synchronous BFT consensus protocol. We analyze how BoundBFT’s correctness can be compromised and use this analysis to design and implement the most effective attack strategies that malicious processes could employ. Furthermore, we experimentally determine the synchronous bound Δ that provides sufficient confidence in maintaining protocol correctness even in the presence of malicious replicas. Finally, we apply this discovered bound to BoundBFT, evaluate its performance, and compare it to state-of-the-art synchronous and partially synchronous protocols.

Cite as

Nenad Milošević, Daniel Cason, Zarko Milošević, and Fernando Pedone. How Robust Are Synchronous Consensus Protocols?. In 28th International Conference on Principles of Distributed Systems (OPODIS 2024). Leibniz International Proceedings in Informatics (LIPIcs), Volume 324, pp. 20:1-20:25, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{milosevic_et_al:LIPIcs.OPODIS.2024.20,
  author =	{Milo\v{s}evi\'{c}, Nenad and Cason, Daniel and Milo\v{s}evi\'{c}, Zarko and Pedone, Fernando},
  title =	{{How Robust Are Synchronous Consensus Protocols?}},
  booktitle =	{28th International Conference on Principles of Distributed Systems (OPODIS 2024)},
  pages =	{20:1--20:25},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-360-7},
  ISSN =	{1868-8969},
  year =	{2025},
  volume =	{324},
  editor =	{Bonomi, Silvia and Galletta, Letterio and Rivi\`{e}re, Etienne and Schiavoni, Valerio},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.OPODIS.2024.20},
  URN =		{urn:nbn:de:0030-drops-225560},
  doi =		{10.4230/LIPIcs.OPODIS.2024.20},
  annote =	{Keywords: Synchronous Consensus, Byzantine Failures, Blockchain}
}

Document

DOI: 10.4230/OASIcs.Tannen.6

Fishing Fort: A System for Graph Analytics with ML Prediction and Logic Deduction

Authors: Wenfei Fan and Shuhao Liu

Published in: OASIcs, Volume 119, The Provenance of Elegance in Computation - Essays Dedicated to Val Tannen (2024)

Abstract

This paper reports Fishing Fort, a graph analytic system developed in response to the following questions. What practical value can we get out of graph analytics? How can we effectively deduce the value from a real-life graph? Where can we get clean graphs to make accurate analyses possible? To answer these questions, Fishing Fort advocates to unify logic deduction and ML prediction by proposing Graph Association Rules (GARs), a class of logic rules in which ML models can be embedded as predicates. It employs GARs to deduce graph associations, enrich graphs and clean graphs. It has been deployed in production lines and proven effective in online recommendation, drug discovery, credit risk assessment, battery manufacturing and cybersecurity, among other things.

Cite as

Wenfei Fan and Shuhao Liu. Fishing Fort: A System for Graph Analytics with ML Prediction and Logic Deduction. In The Provenance of Elegance in Computation - Essays Dedicated to Val Tannen. Open Access Series in Informatics (OASIcs), Volume 119, pp. 6:1-6:18, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2024)

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@InProceedings{fan_et_al:OASIcs.Tannen.6,
  author =	{Fan, Wenfei and Liu, Shuhao},
  title =	{{Fishing Fort: A System for Graph Analytics with ML Prediction and Logic Deduction}},
  booktitle =	{The Provenance of Elegance in Computation - Essays Dedicated to Val Tannen},
  pages =	{6:1--6:18},
  series =	{Open Access Series in Informatics (OASIcs)},
  ISBN =	{978-3-95977-320-1},
  ISSN =	{2190-6807},
  year =	{2024},
  volume =	{119},
  editor =	{Amarilli, Antoine and Deutsch, Alin},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/OASIcs.Tannen.6},
  URN =		{urn:nbn:de:0030-drops-201025},
  doi =		{10.4230/OASIcs.Tannen.6},
  annote =	{Keywords: graph analytics, data cleaning, association analysis}
}

Document

Survey

DOI: 10.4230/TGDK.1.1.4

Knowledge Graph Embeddings: Open Challenges and Opportunities

Authors: Russa Biswas, Lucie-Aimée Kaffee, Michael Cochez, Stefania Dumbrava, Theis E. Jendal, Matteo Lissandrini, Vanessa Lopez, Eneldo Loza Mencía, Heiko Paulheim, Harald Sack, Edlira Kalemi Vakaj, and Gerard de Melo

Published in: TGDK, Volume 1, Issue 1 (2023): Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge, Volume 1, Issue 1

Abstract

While Knowledge Graphs (KGs) have long been used as valuable sources of structured knowledge, in recent years, KG embeddings have become a popular way of deriving numeric vector representations from them, for instance, to support knowledge graph completion and similarity search. This study surveys advances as well as open challenges and opportunities in this area. For instance, the most prominent embedding models focus primarily on structural information. However, there has been notable progress in incorporating further aspects, such as semantics, multi-modal, temporal, and multilingual features. Most embedding techniques are assessed using human-curated benchmark datasets for the task of link prediction, neglecting other important real-world KG applications. Many approaches assume a static knowledge graph and are unable to account for dynamic changes. Additionally, KG embeddings may encode data biases and lack interpretability. Overall, this study provides an overview of promising research avenues to learn improved KG embeddings that can address a more diverse range of use cases.

Cite as

Russa Biswas, Lucie-Aimée Kaffee, Michael Cochez, Stefania Dumbrava, Theis E. Jendal, Matteo Lissandrini, Vanessa Lopez, Eneldo Loza Mencía, Heiko Paulheim, Harald Sack, Edlira Kalemi Vakaj, and Gerard de Melo. Knowledge Graph Embeddings: Open Challenges and Opportunities. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 4:1-4:32, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{biswas_et_al:TGDK.1.1.4,
  author =	{Biswas, Russa and Kaffee, Lucie-Aim\'{e}e and Cochez, Michael and Dumbrava, Stefania and Jendal, Theis E. and Lissandrini, Matteo and Lopez, Vanessa and Menc{\'\i}a, Eneldo Loza and Paulheim, Heiko and Sack, Harald and Vakaj, Edlira Kalemi and de Melo, Gerard},
  title =	{{Knowledge Graph Embeddings: Open Challenges and Opportunities}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{4:1--4:32},
  year =	{2023},
  volume =	{1},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.1.1.4},
  URN =		{urn:nbn:de:0030-drops-194783},
  doi =		{10.4230/TGDK.1.1.4},
  annote =	{Keywords: Knowledge Graphs, KG embeddings, Link prediction, KG applications}
}

Document

Survey

DOI: 10.4230/TGDK.1.1.11

How Does Knowledge Evolve in Open Knowledge Graphs?

Authors: Axel Polleres, Romana Pernisch, Angela Bonifati, Daniele Dell'Aglio, Daniil Dobriy, Stefania Dumbrava, Lorena Etcheverry, Nicolas Ferranti, Katja Hose, Ernesto Jiménez-Ruiz, Matteo Lissandrini, Ansgar Scherp, Riccardo Tommasini, and Johannes Wachs

Published in: TGDK, Volume 1, Issue 1 (2023): Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge, Volume 1, Issue 1

Abstract

Openly available, collaboratively edited Knowledge Graphs (KGs) are key platforms for the collective management of evolving knowledge. The present work aims t o provide an analysis of the obstacles related to investigating and processing specifically this central aspect of evolution in KGs. To this end, we discuss (i) the dimensions of evolution in KGs, (ii) the observability of evolution in existing, open, collaboratively constructed Knowledge Graphs over time, and (iii) possible metrics to analyse this evolution. We provide an overview of relevant state-of-the-art research, ranging from metrics developed for Knowledge Graphs specifically to potential methods from related fields such as network science. Additionally, we discuss technical approaches - and their current limitations - related to storing, analysing and processing large and evolving KGs in terms of handling typical KG downstream tasks.

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Axel Polleres, Romana Pernisch, Angela Bonifati, Daniele Dell'Aglio, Daniil Dobriy, Stefania Dumbrava, Lorena Etcheverry, Nicolas Ferranti, Katja Hose, Ernesto Jiménez-Ruiz, Matteo Lissandrini, Ansgar Scherp, Riccardo Tommasini, and Johannes Wachs. How Does Knowledge Evolve in Open Knowledge Graphs?. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 11:1-11:59, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{polleres_et_al:TGDK.1.1.11,
  author =	{Polleres, Axel and Pernisch, Romana and Bonifati, Angela and Dell'Aglio, Daniele and Dobriy, Daniil and Dumbrava, Stefania and Etcheverry, Lorena and Ferranti, Nicolas and Hose, Katja and Jim\'{e}nez-Ruiz, Ernesto and Lissandrini, Matteo and Scherp, Ansgar and Tommasini, Riccardo and Wachs, Johannes},
  title =	{{How Does Knowledge Evolve in Open Knowledge Graphs?}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{11:1--11:59},
  year =	{2023},
  volume =	{1},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.1.1.11},
  URN =		{urn:nbn:de:0030-drops-194855},
  doi =		{10.4230/TGDK.1.1.11},
  annote =	{Keywords: KG evolution, temporal KG, versioned KG, dynamic KG}
}

Document

Vision

DOI: 10.4230/TGDK.1.1.8

Machine Learning and Knowledge Graphs: Existing Gaps and Future Research Challenges

Authors: Claudia d'Amato, Louis Mahon, Pierre Monnin, and Giorgos Stamou

Published in: TGDK, Volume 1, Issue 1 (2023): Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge, Volume 1, Issue 1

Abstract

The graph model is nowadays largely adopted to model a wide range of knowledge and data, spanning from social networks to knowledge graphs (KGs), representing a successful paradigm of how symbolic and transparent AI can scale on the World Wide Web. However, due to their unprecedented volume, they are generally tackled by Machine Learning (ML) and mostly numeric based methods such as graph embedding models (KGE) and deep neural networks (DNNs). The latter methods have been proved lately very efficient, leading the current AI spring. In this vision paper, we introduce some of the main existing methods for combining KGs and ML, divided into two categories: those using ML to improve KGs, and those using KGs to improve results on ML tasks. From this introduction, we highlight research gaps and perspectives that we deem promising and currently under-explored for the involved research communities, spanning from KG support for LLM prompting, integration of KG semantics in ML models to symbol-based methods, interpretability of ML models, and the need for improved benchmark datasets. In our opinion, such perspectives are stepping stones in an ultimate view of KGs as central assets for neuro-symbolic and explainable AI.

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Claudia d'Amato, Louis Mahon, Pierre Monnin, and Giorgos Stamou. Machine Learning and Knowledge Graphs: Existing Gaps and Future Research Challenges. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 8:1-8:35, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{damato_et_al:TGDK.1.1.8,
  author =	{d'Amato, Claudia and Mahon, Louis and Monnin, Pierre and Stamou, Giorgos},
  title =	{{Machine Learning and Knowledge Graphs: Existing Gaps and Future Research Challenges}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{8:1--8:35},
  year =	{2023},
  volume =	{1},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.1.1.8},
  URN =		{urn:nbn:de:0030-drops-194824},
  doi =		{10.4230/TGDK.1.1.8},
  annote =	{Keywords: Graph-based Learning, Knowledge Graph Embeddings, Large Language Models, Explainable AI, Knowledge Graph Completion \& Curation}
}

Document

Vision

DOI: 10.4230/TGDK.1.1.9

Trust, Accountability, and Autonomy in Knowledge Graph-Based AI for Self-Determination

Authors: Luis-Daniel Ibáñez, John Domingue, Sabrina Kirrane, Oshani Seneviratne, Aisling Third, and Maria-Esther Vidal

Published in: TGDK, Volume 1, Issue 1 (2023): Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge, Volume 1, Issue 1

Abstract

Knowledge Graphs (KGs) have emerged as fundamental platforms for powering intelligent decision-making and a wide range of Artificial Intelligence (AI) services across major corporations such as Google, Walmart, and AirBnb. KGs complement Machine Learning (ML) algorithms by providing data context and semantics, thereby enabling further inference and question-answering capabilities. The integration of KGs with neuronal learning (e.g., Large Language Models (LLMs)) is currently a topic of active research, commonly named neuro-symbolic AI. Despite the numerous benefits that can be accomplished with KG-based AI, its growing ubiquity within online services may result in the loss of self-determination for citizens as a fundamental societal issue. The more we rely on these technologies, which are often centralised, the less citizens will be able to determine their own destinies. To counter this threat, AI regulation, such as the European Union (EU) AI Act, is being proposed in certain regions. The regulation sets what technologists need to do, leading to questions concerning How the output of AI systems can be trusted? What is needed to ensure that the data fuelling and the inner workings of these artefacts are transparent? How can AI be made accountable for its decision-making? This paper conceptualises the foundational topics and research pillars to support KG-based AI for self-determination. Drawing upon this conceptual framework, challenges and opportunities for citizen self-determination are illustrated and analysed in a real-world scenario. As a result, we propose a research agenda aimed at accomplishing the recommended objectives.

Cite as

Luis-Daniel Ibáñez, John Domingue, Sabrina Kirrane, Oshani Seneviratne, Aisling Third, and Maria-Esther Vidal. Trust, Accountability, and Autonomy in Knowledge Graph-Based AI for Self-Determination. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 9:1-9:32, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{ibanez_et_al:TGDK.1.1.9,
  author =	{Ib\'{a}\~{n}ez, Luis-Daniel and Domingue, John and Kirrane, Sabrina and Seneviratne, Oshani and Third, Aisling and Vidal, Maria-Esther},
  title =	{{Trust, Accountability, and Autonomy in Knowledge Graph-Based AI for Self-Determination}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{9:1--9:32},
  ISSN =	{2942-7517},
  year =	{2023},
  volume =	{1},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.1.1.9},
  URN =		{urn:nbn:de:0030-drops-194839},
  doi =		{10.4230/TGDK.1.1.9},
  annote =	{Keywords: Trust, Accountability, Autonomy, AI, Knowledge Graphs}
}

Document

Position

DOI: 10.4230/TGDK.1.1.5

Knowledge Graphs for the Life Sciences: Recent Developments, Challenges and Opportunities

Authors: Jiaoyan Chen, Hang Dong, Janna Hastings, Ernesto Jiménez-Ruiz, Vanessa López, Pierre Monnin, Catia Pesquita, Petr Škoda, and Valentina Tamma

Published in: TGDK, Volume 1, Issue 1 (2023): Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge, Volume 1, Issue 1

Abstract

The term life sciences refers to the disciplines that study living organisms and life processes, and include chemistry, biology, medicine, and a range of other related disciplines. Research efforts in life sciences are heavily data-driven, as they produce and consume vast amounts of scientific data, much of which is intrinsically relational and graph-structured. The volume of data and the complexity of scientific concepts and relations referred to therein promote the application of advanced knowledge-driven technologies for managing and interpreting data, with the ultimate aim to advance scientific discovery. In this survey and position paper, we discuss recent developments and advances in the use of graph-based technologies in life sciences and set out a vision for how these technologies will impact these fields into the future. We focus on three broad topics: the construction and management of Knowledge Graphs (KGs), the use of KGs and associated technologies in the discovery of new knowledge, and the use of KGs in artificial intelligence applications to support explanations (explainable AI). We select a few exemplary use cases for each topic, discuss the challenges and open research questions within these topics, and conclude with a perspective and outlook that summarizes the overarching challenges and their potential solutions as a guide for future research.

Cite as

Jiaoyan Chen, Hang Dong, Janna Hastings, Ernesto Jiménez-Ruiz, Vanessa López, Pierre Monnin, Catia Pesquita, Petr Škoda, and Valentina Tamma. Knowledge Graphs for the Life Sciences: Recent Developments, Challenges and Opportunities. In Special Issue on Trends in Graph Data and Knowledge. Transactions on Graph Data and Knowledge (TGDK), Volume 1, Issue 1, pp. 5:1-5:33, Schloss Dagstuhl – Leibniz-Zentrum für Informatik (2023)

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@Article{chen_et_al:TGDK.1.1.5,
  author =	{Chen, Jiaoyan and Dong, Hang and Hastings, Janna and Jim\'{e}nez-Ruiz, Ernesto and L\'{o}pez, Vanessa and Monnin, Pierre and Pesquita, Catia and \v{S}koda, Petr and Tamma, Valentina},
  title =	{{Knowledge Graphs for the Life Sciences: Recent Developments, Challenges and Opportunities}},
  journal =	{Transactions on Graph Data and Knowledge},
  pages =	{5:1--5:33},
  year =	{2023},
  volume =	{1},
  number =	{1},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/TGDK.1.1.5},
  URN =		{urn:nbn:de:0030-drops-194791},
  doi =		{10.4230/TGDK.1.1.5},
  annote =	{Keywords: Knowledge graphs, Life science, Knowledge discovery, Explainable AI}
}

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