TIDE: a Timing-Deterministic and Efficient Executor for micro-ROS. - Zilong Wang 018; Songran Liu; Xu Jiang 004; Dong Ji; Yi Wang (iThings/GreenCom/CPSCom/SmartData/Cybermatics, 2023)

RTeX: An Efficient and Timing-Predictable Multithreaded Executor for ROS 2. - Songran Liu; Xu Jiang 004; Nan Guan; Zilong Wang 018; Minghe Yu 001; Wang Yi 001 (IEEE Trans. Comput. Aided Des. Integr. Circuits Syst., 2024)