Publications

This page collects publications related to LITMUS^RT, both those about LITMUS^RT itself and those using LITMUS^RT as a tool. If you know of a paper or thesis related to LITMUS^RT that is not listed here then please add it to the list (in reverse chronological order).

Theses

PhD theses using LITMUS^RT:

1. G. Elliott, "Real-Time Scheduling of GPUs, with Applications in Advanced Automotive Systems", PhD thesis, UNC Chapel Hill, 2015.

2. G. Gracioli, "Real-Time Operating System Support for Multicore Applications", PhD thesis, Federal University of Santa Catarina, Florianópolis, Brazil, 2014. PDF

3. J. Erickson, "Managing Tardiness Bounds and Overload in Soft Real-Time Systems", PhD thesis, UNC Chapel Hill, 2014. PDF.

4. B. Brandenburg, "Scheduling and Locking in Multiprocessor Real-Time Operating Systems", PhD thesis, UNC Chapel Hill, 2011. companion page

5. A. Bastoni, "Towards the Integration of Theory and Practice in Multiprocessor Real-Time Scheduling", PhD thesis, University of Rome "Tor Vergata", 2011. PDF

6. J. Calandrino, "On the Design and Implementation of a Cache-Aware Soft Real-Time Scheduler for Multicore Platforms", PhD thesis, UNC Chapel Hill, 2009. PDF

7. A. Block, "Multiprocessor Adaptive Real-Time Systems", PhD thesis, UNC Chapel Hill, 2008. PDF

Masters theses using LITMUS^RT:

1. Mahircan Gül, "Provisioning Robotics Workloads on Multicore Systems with Reservation-Based Scheduling", Master's thesis, TU Kaiserslautern, Germany, 2016.

2. Jing Li, "Global EDF Scheduling for Parallel Real-Time Tasks", Master's thesis, Washington University in St. Louis, USA, 2014. Tech report 2014-50. PDF

3. Youcef Benabbas, "Schedulability Monitoring for Real-Time Operating Systems: A Pragmatic Approach", Master's thesis, Universität des Saarlandes, Germany, 2013.

Papers

Journal, conference, and workshop papers using or extending LITMUS^RT:

1. N. Kim, S. Tang, N. Otterness, J. Anderson, F.D. Smith, and D. Porter, "Supporting I/O and IPC via Fine-Grained OS Isolation for Mixed-Criticality Real-Time Tasks", Proceedings of the 26th International Conference on Real-Time Networks and Systems, pp, 191-201, October 2018. PDF. Longer version with all schedulability plots: PDF.

   • mc2_litmus-rt_2015.1-rtns18.patch (against LITMUS^RT 2015.1)

   • mc2_liblitmus_2015.1-rtns18.patch (against liblitmus 2015.1)

   • Schedulability Evaluation Framework

2. M. Chisholm, N. Kim, S. Tang, N. Otterness, J. Anderson, F.D. Smith, and D. Porter, "Supporting Mode Changes while Providing Hardware Isolation in Mixed-Criticality Multicore Systems", Proceedings of the 25th International Conference on Real-Time Networks and Systems (RTNS 2017), October 2017. PDF. Longer version with appendices and all schedulability plots: PDF.

   • litmus-rt-rtns17.patch (against LITMUS^RT 2015.1)

   • liblitmus-rtns17.patch (against liblitmus 2015.1)

   • Schedulability Evaluation Framework

3. N. Kim, M. Chisholm, N. Otterness, J. Anderson, and F.D. Smith, "Allowing Shared Libraries while Supporting Hardware Isolation in Multicore Real-Time Systems", Proceedings of the 23rd IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2017), April 2017. PDF. Longer version with all schedulability plots: PDF.

   • litmus-rt-rtas17.patch (against LITMUS^RT 2015.1)

   • liblitmus-rtas17.patch (against liblitmus 2015.1)

   • Schedulability Evaluation Framework

4. B. Brandenburg and M. Gül, “Global Scheduling Not Required: Simple, Near-Optimal Multiprocessor Real-Time Scheduling with Semi-Partitioned Reservations”, Proceedings of the 37th IEEE Real-Time Systems Symposium (RTSS 2016), December 2016. PDF

   • companion page, providing all patches and instructions

5. M. Chisholm, N. Kim, B. Ward, N. Otterness, J. Anderson, and F.D. Smith, "Reconciling the Tension Between Hardware Isolation and Data Sharing in Mixed-Criticality, Multicore Systems", Proceedings of the 37th IEEE Real-Time Systems Symposium (RTSS 2016), December 2016. PDF. Longer version with all schedulability plots: PDF.

   • MC2-litmus-rt-rtss16.patch (against LITMUS^RT 2015.1 commit a17f532bb1056742dc0ebbb6182bda063836316d)

   • MC2-liblitmus-rtss16.patch (against liblitmus commit 54ab0e29794e9f22aacd206102d9e4d643e28efe)

   • Schedulability Evaluation Framework

6. V. Bonifaci, B. Brandenburg, G. D’Angelo, and A. Marchetti-Spaccamela, "Multiprocessor Real-Time Scheduling with Hierarchical Processor Affinities", Proceedings of the 28th Euromicro Conference on Real-Time Systems (ECRTS 2016), July 2016. PDF.

   • artifact evaluation instructions (including patch)

7. J. Anderson, J. Erickson, U. Devi, and B. Casses, "Optimal Semi-Partitioned Scheduling in Soft Real-Time Systems", Journal of Signal Processing Systems, special issue on selected papers from the 20th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2014), Volume 84, Number 1, pp. 3-23, 2016. PDF.

   • litmus-rt-semi-part-with-edfos.patch (against LITMUS^RT version 2010.2)

   • liblitmus-semi-part-with-edfos.patch (against LITMUS^RT version 2010.2)

8. D. Compagnin, E. Mezzetti, and T. Vardanega, "Experimental evaluation of optimal schedulers based on partitioned proportionate fairness", Proceedings of the 27th Euromicro Conference on Real-Time Systems (ECRTS 2015), July 2015.

9. A. Block and W. Kelley, "Implementing Adaptive Clustered Scheduling in LITMUS^RT", Proceedings of the 11th Annual Workshop on Operating Systems Platforms for Embedded Real-Time applications (OSPERT 2015), pp. 33-35, July 2015.

10. N. Kim, B. Ward, M. Chisholm, C.-Y. Fu, J. Anderson, and F.D. Smith, " Attacking the One-Out-Of-m Multicore Problem by Combining Hardware Management with Mixed-Criticality Provisioning", Proceedings of the 22nd IEEE Real-Time Embedded Technology & Application's Symposium (RTAS 2016). PDF. Longer version with more graphs: PDF

    • MC2-litmut-rt-imx6-rtss15.patch (against Freescale BSP Release 3.10.31)

    • MC2-liblitmus-imx6-rtss15.patch (against liblitmus version 2014.2)

    • Schedulability Evaluation Framework

11. J. Kwon, K.-W. Kim, S. Paik, J. Lee, and C.-G. Lee, "Multicore Scheduling of Parallel Real-Time Tasks with Multiple Parallelization Options", Proceedings of the 21st IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2015), pp. 232-241, April 2015.
12. G. Elliott and J. Anderson, "Exploring the Multitude of Real-Time Multi-GPU Configurations", Proceedings of the 35th IEEE Real-Time Systems Symposium, pp. 260-271, December 2014.

13. B. Brandenburg, "A Synchronous IPC Protocol for Predictable Access to Shared Resources in Mixed-Criticality Systems", Proceedings of the 35th IEEE Real-Time Systems Symposium, 196-206, December 2014. PDF

14. R. Spliet, M. Vanga, B. Brandenburg, and S. Dziadek, "Fast on Average, Predictable in the Worst Case: Exploring Real-Time Futexes in LITMUS^RT", Proceedings of the 35th IEEE Real-Time Systems Symposium, pp. 96-105, December 2014. PDF

15. S. Xi, M. Xu, C. Lu, L.T.X. Phan, C. D. Gill, O. Sokolsky, and I. Lee, "Real-Time Multi-Core Virtual Machine Scheduling in Xen", Proceedings of the 14th ACM International Conference on Embedded Software (EMSOFT'14), October 2014.

16. L. Bonato, E. Mezzetti and T. Vardanega, "Supporting Global Resource Sharing in RUN-scheduled Multiprocessor Systems", Proceedings of the 22nd International Conference on Real-Time Networks and Systems (RTNS 2014), October 2014. ACM

17. J. Li, Z. Luo, D. Ferry, K. Agrawal, C. Gill, and C. Lu, "Global EDF scheduling for parallel real-time tasks", Real-Time Systems, DOI: 10.1007/s11241-014-9213-9, October 2014. Springer Link

18. J. Kwon, K-W. Kim, S. Paik, J. Lee, and C-G. Lee, "Experimental Data for Multicore Scheduling of Parallel Real-Time Tasks with Multiple Parallelization Options", Technical Report RUBIS-TR-201410-1, Department of Computer Science and Engineering, Seoul National University, October 2014. PDF

19. J. Anderson, J. Erickson, U. Devi, and B. Casses, "Optimal Semi-Partitioned Scheduling in Soft Real-Time Systems", Proceedings of the 20th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, August 2014.

    • litmus-rt-semi-part-with-edfos.patch (against LITMUS^RT version 2010.2)

    • liblitmus-semi-part-with-edfos.patch (against LITMUS^RT version 2010.2)

20. N. Kim, J. Erickson, and J. Anderson, "Mixed-Criticality on Multicore (MC²): A Status Report", Proceedings of the 10th Annual Workshop on Operating Systems Platforms for Embedded Real-Time Applications, pp. 45-50, July 2014.

21. D. Compagnin, E. Mezzetti, and T. Verdanega, "Putting RUN into Practice: Implementation and Evaluation", Proceedings of the 26th Euromicro Conference on Real-Time Systems, pp. 75-84, July 2014.

22. J. Erickson, N. Kim, and J. Anderson, "Recovering from Overload in Multicore Mixed-Criticality Systems", Proceedings of the 29th IEEE International Parallel and Distributed Processing Symposium, pp. 775-785, May 2015. PDF

    • MC2_litmusrt_ipdps15.patch (against LITMUS^RT version 2011.1)

    • MC2_liblitmus_ipdps15.patch (against liblitmus version 2011.1)

23. F. Cerqueira, M. Vanga, and B. Brandenburg, "Scaling Global Scheduling with Message Passing", Proceedings of the 20th IEEE Real-Time and Embedded Technology and Applications Symposium (RTAS 2014), April 2014. PDF (with Appendix)

    • gedf-mp-rtas14.patch (against LITMUS^RT 2014.1)

    • sched-deadline-v8-feather-trace-rtas14.patch (against SCHED_DEADLINE V8)

    (Notes: the second patch adds the Feather-Trace tracing infrastructure to SCHED_DEADLINE V8, but leaves the rest of the scheduler alone).

24. G. Elliott, N. Kim, J. Erickson, C. Liu, and J. Anderson, "Minimizing Response Times of Automotive Dataflows on Multicore", Proceedings of the 20th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, August 2014. PDF (with Appendix)

    • pgmrt-litmusrt-ecrts14.patch (against LITMUS^RT version 2013.1)

    • pgmrt-liblitmus-ecrts14.patch (against liblitmus version 2013.1)

    • PGM^RT code

25. G. Elliott, B. Ward, and J. Anderson, "GPUSync: A Framework for Real-Time GPU Management", Proceedings of the 34th IEEE Real-Time Systems Symposium, December 2013. PDF

    • gpusync_rtss13_litmus.patch

    • gpusync_rtss13_liblitmus.patch

    (Notes: (1) Please apply the GPUSync patch to Linux kernel 3.0 instead of LITMUS^RT (patch includes all LITMUS^RT). (2) Apply the liblitmus patch liblitmus with head d427bf8561.)

26. G. Gracioli, A. A. Fröhlich, R. Pellizzoni, S. Fischmeister, "Implementation and evaluation of global and partitioned scheduling in a real-time OS", Real-Time Systems, Volume 49, Issue 6, pp 669-714, November 2013. Springer Link

27. B. Ward, J. Herman, C. Kenna, and J. Anderson, " Making Shared Caches More Predictable on Multicore Platforms", Proceedings of the 25th Euromicro Conference on Real-Time Systems, pp. 157-167, July 2013. Winner, outstanding paper award.
28. J. Erickson and J. Anderson, "Reducing Tardiness Under Global Scheduling by Splitting Jobs", Proceedings of the 25th Euromicro Conference on Real-Time Systems, pp. 14-24, July 2013.

29. F. Cerqueira and B. Brandenburg, "A Comparison of Scheduling Latency in Linux, PREEMPT-RT, and LITMUS^RT", Proceedings of the 9th Annual Workshop on Operating Systems Platforms for Embedded Real-Time applications, pp. 19-29, July 2013. PDF

30. B. Brandenburg, "A Fully Preemptive Multiprocessor Semaphore Protocol for Latency-Sensitive Real-Time Applications", Proceedings of the 25th Euromicro Conference on Real-Time Systems, pp. 292-302, July 2013. PDF

    • omip-ecrts13.patch (against LITMUS^RT version 2012.3)

31. M. Aichouch, J.-C. Prévotet, and F. Nouvel, "Evaluation of the Overheads and Latencies of a Virtualized RTOS", Proceedings of the 8th IEEE International Symposium on Industrial Embedded Systems (SIES 2013), pp. 81-84, June 2013.

32. B. Brandenburg, "Improved Analysis and Evaluation of Real-Time Semaphore Protocols for P-FP Scheduling", Proceedings of the 19th IEEE Real-Time and Embedded Technology and Applications Symposium, pp. 141-152. IEEE, April 2013. PDF

    • tracing-and-dflp-rtas13.patch (against LITMUS^RT version 2012.2)

33. D. Faggioli, G. Lipari, and T. Cucinotta, "Analysis and Implementation of the Multiprocessor Bandwidth Inheritance Protocol", Real-Time Systems, Volume 48, Issue 6, pp. 789-825. Springer, 2012. PDF

34. G. Elliott, and J. Anderson, "Robust Real-Time Multiprocessor Interrupt Handling Motivated by GPUs", Proceedings of the 24th Euromicro Conference on Real-Time Systems. PDF

    • gpu-klmirqd-litmus-rt-ecrts12.patch

    • gpu-klmirqd-liblitmus-rt-ecrts12.patch

    (Note: Patches are for LITMUS-RT Version 2011.1)

35. J. Herman, C. Kenna, M. Mollison, and J. Anderson, "RTOS Support for Mixed-Criticality Systems", Proceedings of the 18^th Real-Time and Embedded Technology and Applications Symposium, April 2012. PDF

    • wip-mc.patch (patch against 2011.1)

36. C. Kenna, J. Herman, B. Brandenburg, A. Mills, and J. Anderson, "Soft Real-Time on Multiprocessors: Are Analysis-Based Schedulers Really Worth It?", Proceedings of the 32nd IEEE Real-Time Systems Symposium, pp. 93-103, December 2011. PDF

    • litmus-edf-hsb-rtss11.patch (patch against 2011.1)

    • video-player.tar.gz

37. A. Bastoni, B. Brandenburg and J. Anderson, "Is Semi-Partitioned Scheduling Practical?", Proceedings of the 23rd Euromicro Conference on Real-Time Systems, July 2011. PDF. Longer version with all graphs: PDF
    
    For reference, all evaluated plugins as well as the required userspace tools are provided as part of the following patches (against version 2010.2).

    • litmus-rt-semi-part.patch

    • liblitmus-semi-part.patch

38. A. Bastoni, B. Brandenburg and J. Anderson, "An Empirical Comparison of Global, Partitioned, and Clustered Multiprocessor Real-Time Schedulers", Proceedings of the 31th IEEE Real-Time Systems Symposium, pp. 14-24, December 2010. PDF. Longer version with all graphs: PDF

39. J. Anderson, "Real-Time Multiprocessor Scheduling: Connecting Theory and Practice ", keynote address, 18th International Conference on Real-Time and Network Systems, November 4, 2010. PPTX.

40. G. Elliott and J. Anderson, "Real-Time Multiprocessor Systems with GPUs", Proceedings of the 18th International Conference on Real-Time and Network Systems, pp. 197-206, November 2010. PDF. Longer version with appendices: PDF

41. A.Bastoni, B. Brandenburg and J. Anderson "Cache-Related Preemption and Migration Delays: Empirical Approximation and Impact on Schedulability", Proceedings of the Sixth International Workshop on Operating Systems Platforms for Embedded Real-Time Applications, pp. 33-44, July 2010. PDF.

42. B. Brandenburg and J. Anderson, "On the Implementation of Global Real-Time Schedulers", Proceedings of the 30th IEEE Real-Time Systems Symposium, pp. 214-224, December 2009. PDF. Longer version with all graphs: PDF.
    
    For reference, all evaluated plugins are provided as part of the following patch (against version 2008.3).

    • litmus-rt-RTSS09.patch

43. T. Sarni, A. Queudet, and P. Valduriez, "Software transactional memory: Worst case execution time analysis", Proceedings of the 17th International Conference on Real-Time and Network Systems (RTNS 2009), pp. 107--114, October 2009. PDF

44. T. Sarni, A. Queudet, and P. Valduriez, "Real-Time Support for Software Transactional Memory", Proceedings of the 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA 2009), pp. 477--485, August 2009. PDF

45. B. Brandenburg and J. Anderson "Reader-Writer Synchronization for Shared-Memory Multiprocessor Real-Time Systems", Proceedings of the 21st Euromicro Conference on Real-Time Systems, pp. 184-193, July 2009. PDF. Long version with blocking terms: PDF.

46. J. Calandrino and J. Anderson "On the Design and Implementation of a Cache-Aware Multicore Real-Time Scheduler", Proceedings of the 21st Euromicro Conference on Real-Time Systems, pp. 194-204, July 2009. PDF.

47. M. Mollison, B. Brandenburg, and J. Anderson "Towards Unit Testing Real-Time Schedulers in LITMUS^RT", Proceedings of the Fifth International Workshop on Operating Systems Platforms for Embedded Real-Time Applications, pp. 33-39, July 2009. PDF.

48. B. Brandenburg and J. Anderson, "A Comparison of the M-PCP, D-PCP, and FMLP on LITMUS^RT", Proceedings of the 12th International Conference on Principles of Distributed Systems, pp. 105-124, December 2008. PDF.

49. B. Brandenburg, J. Calandrino, and J. Anderson, "On the Scalability of Real-Time Scheduling Algorithms on Multicore Platforms: A Case Study", Proceedings of the 29th IEEE Real-Time Systems Symposium, pp. 157-169, December 2008. PDF.

50. B. Brandenburg and J. Anderson, "An Implementation of the PCP, SRP, D-PCP, M-PCP, and FMLP Real-Time Synchronization Protocols in LITMUS^RT", Proceedings of the 14th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications, pp. 185-194, August 2008. PDF.
    
    The work described in this paper took part in a branch that is currently not part of the main distribution. For reference, we provide the branch as separate downloads:

    • litmus-rt-RTCSA08.patch

    • liblitmus-RTCSA08.tgz

    • SHA256 check sums

    Please don't use this version for active development. If you are interested in this work, it would be best to first port the desired features to a current version of LITMUS^RT and merge them into the main distribution.

51. A. Block, B. Brandenburg, J. Anderson, and S. Quint, "An Adaptive Framework for Multiprocessor Real-Time Systems", Proceedings of the 20th Euromicro Conference on Real-Time Systems, pp. 23-33, July 2008. PDF.

52. B. Brandenburg, J. Calandrino, A. Block, H. Leontyev, and J. Anderson, "Real-Time Synchronization on Multiprocessors: To Block or Not to Block, to Suspend or Spin?", Proceedings of the 14th IEEE Real-Time and Embedded Technology and Applications Symposium, pp. 342-353, April 2008. PDF. Extended version, including all graphs: PDF.

53. B. Brandenburg, A. Block, J. Calandrino, U. Devi, H. Leontyev, and J. Anderson, "LITMUS^RT: A Status Report", Proceedings of the 9th Real-Time Linux Workshop, pp. 107-123, November 2007. PDF.

54. B. Brandenburg and J. Anderson, "Integrating Hard/Soft Real-Time Tasks and Best-Effort Jobs on Multiprocessors", Proceedings of the 19th Euromicro Conference on Real-Time Systems, pp. 61-70, July 2007. PDF.

55. J. Calandrino, H. Leontyev, A. Block, U. Devi, and J. Anderson, "LITMUS^RT: A Testbed for Empirically Comparing Real-Time Multiprocessor Schedulers ", Proceedings of the 27th IEEE Real-Time Systems Symposium, pp. 111-123, December 2006. PDF.