End-To-End Timing Analysis and Optimization of Multi-Executor ROS 2 Systems. - Harun Teper; Tobias Betz; Mario Günzel; Dominic Ebner; Georg von der Brüggen; Johannes Betz; Jian-Jia Chen (RTAS, 2024)

End-to-End Latency Optimization for Containerized ROS 2 Autonomous Driving Software. - Tobias Betz; Harun Teper; Dominic Ebner; Maximilian Leitenstern; Simon Sagmeister; Marcel Weinmann; Jian-Jia Chen; Markus Lienkamp (IEEE Access, 2025)

Approaching Current Challenges in Developing a Software Stack for Fully Autonomous Driving. - Simon Sagmeister; Simon Hoffmann; Tobias Betz; Dominic Ebner; Daniel Esser; Markus Lienkamp (CoRR, 2025)