{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2023,12,9]],"date-time":"2023-12-09T00:26:51Z","timestamp":1702081611710},"reference-count":75,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2023,8,21]],"date-time":"2023-08-21T00:00:00Z","timestamp":1692576000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2023,8,21]],"date-time":"2023-08-21T00:00:00Z","timestamp":1692576000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"funder":[{"DOI":"10.13039\/501100003407","name":"Ministero dell\u2019Istruzione, dell\u2019Universit\u00e0 e della Ricerca","doi-asserted-by":"publisher","award":["20172NNB4"],"id":[{"id":"10.13039\/501100003407","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100011688","name":"Electronic Components and Systems for European Leadership","doi-asserted-by":"publisher","award":["101007311"],"id":[{"id":"10.13039\/501100011688","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Real-Time Syst"],"published-print":{"date-parts":[[2023,12]]},"DOI":"10.1007\/s11241-023-09404-2","type":"journal-article","created":{"date-parts":[[2023,8,21]],"date-time":"2023-08-21T10:01:55Z","timestamp":1692612115000},"page":"568-608","update-policy":"http:\/\/dx.doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Time-sensitive autonomous architectures"],"prefix":"10.1007","volume":"59","author":[{"ORCID":"http:\/\/orcid.org\/0000-0003-1360-413X","authenticated-orcid":false,"given":"Donato","family":"Ferraro","sequence":"first","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0009-0000-9348-1699","authenticated-orcid":false,"given":"Luca","family":"Palazzi","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0009-0008-6211-3090","authenticated-orcid":false,"given":"Federico","family":"Gavioli","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0009-0006-1382-1264","authenticated-orcid":false,"given":"Michele","family":"Guzzinati","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0003-1087-6199","authenticated-orcid":false,"given":"Andrea","family":"Bernardi","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0002-7178-4768","authenticated-orcid":false,"given":"Benjamin","family":"Rouxel","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0003-1954-7201","authenticated-orcid":false,"given":"Paolo","family":"Burgio","sequence":"additional","affiliation":[]},{"ORCID":"http:\/\/orcid.org\/0000-0003-4531-2633","authenticated-orcid":false,"given":"Marco","family":"Solieri","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2023,8,21]]},"reference":[{"key":"9404_CR1","doi-asserted-by":"publisher","unstructured":"Alderisi G, Caltabiano A, Vasta G et\u00a0al (2012) Simulative assessments of IEEE 802.1 Ethernet AVB and time-triggered Ethernet for advanced driver assistance systems and in-car infotainment. https:\/\/doi.org\/10.1109\/VNC.2012.6407430","DOI":"10.1109\/VNC.2012.6407430"},{"key":"9404_CR2","unstructured":"AMD Xilinx (2020) PetaLinux tools documentation reference guide (UG1144). https:\/\/docs.xilinx.com\/r\/2020.2-English\/ug1144-petalinux-tools-reference-guide"},{"key":"9404_CR3","unstructured":"AMD Xilinx (2022a) Vivado ML overview. https:\/\/www.xilinx.com\/products\/design-tools\/vivado.html"},{"key":"9404_CR4","unstructured":"AMD Xilinx (2022b) Zynq UltraScale+ MPSoC\u2014product tables and product selection guide. https:\/\/docs.xilinx.com\/v\/u\/en-US\/zynq-ultrascale-plus-product-selection-guide"},{"key":"9404_CR5","unstructured":"Andreozzi M, Shirasat G (2022) High-performance real-time systems design from cloud to embedded edge. EasyChair Preprint no. 8064"},{"issue":"5","key":"9404_CR6","doi-asserted-by":"publisher","first-page":"164","DOI":"10.1145\/1165389.945462","volume":"37","author":"P Barham","year":"2003","unstructured":"Barham P, Dragovic B, Fraser K et al (2003) Xen and the art of virtualization. SIGOPS Oper Syst Rev 37(5):164\u2013177. https:\/\/doi.org\/10.1145\/1165389.945462","journal-title":"SIGOPS Oper Syst Rev"},{"key":"9404_CR7","doi-asserted-by":"publisher","DOI":"10.1109\/ACCESS.2021.3080842","author":"A Biondi","year":"2021","unstructured":"Biondi A, Casini D, Cicero G et al (2021) Sphere: a multi-SoC architecture for next-generation cyber-physical systems based on heterogeneous platforms. IEEE Access. https:\/\/doi.org\/10.1109\/ACCESS.2021.3080842","journal-title":"IEEE Access"},{"key":"9404_CR8","doi-asserted-by":"publisher","DOI":"10.1109\/TCAD.2022.3202434","author":"N Borgioli","year":"2022","unstructured":"Borgioli N, Zini M, Casini D et al (2022) An I\/O virtualization framework with I\/O-related memory contention control for real-time systems. IEEE Trans Comput Aided Des Integr Circuits Syst. https:\/\/doi.org\/10.1109\/TCAD.2022.3202434","journal-title":"IEEE Trans Comput Aided Des Integr Circuits Syst"},{"key":"9404_CR9","doi-asserted-by":"publisher","unstructured":"Boutin V, Hannart A, Essaidi A et\u00a0al (2021) Offloading autonomous vehicle machine learning algorithms to the 5G edge: a proof of concept implementation. In: 2021 IEEE 4th 5G World Forum (5GWF). pp 269\u2013274. https:\/\/doi.org\/10.1109\/5GWF52925.2021.00054","DOI":"10.1109\/5GWF52925.2021.00054"},{"key":"9404_CR10","doi-asserted-by":"publisher","unstructured":"Breaban G, Koedam M, Stuijk S et\u00a0al (2016) Virtualization and emulation of a can device on a multi-processor system on chip. In: 2016 5th Mediterranean conference on embedded computing (MECO). pp 41\u201346. https:\/\/doi.org\/10.1109\/MECO.2016.7525767","DOI":"10.1109\/MECO.2016.7525767"},{"key":"9404_CR11","doi-asserted-by":"publisher","unstructured":"Brilli G, Burgio P, Bertogna M (2018) Convolutional neural networks on embedded automotive platforms: a qualitative comparison. In: 2018 international conference on high performance computing & simulation, HPCS 2018, Orleans, France, July 16\u201320, 2018. IEEE, pp 496\u2013499. https:\/\/doi.org\/10.1109\/HPCS.2018.00084","DOI":"10.1109\/HPCS.2018.00084"},{"key":"9404_CR12","doi-asserted-by":"publisher","unstructured":"Brunner S, Roder J, Kucera M et\u00a0al (2017) Automotive E\/E-architecture enhancements by usage of ethernet TSN. In: 2017 13th workshop on intelligent solutions in embedded systems (WISES). pp 9\u201313. https:\/\/doi.org\/10.1109\/WISES.2017.7986925","DOI":"10.1109\/WISES.2017.7986925"},{"key":"9404_CR13","doi-asserted-by":"publisher","unstructured":"Cai Y, Xu W, Zhang F (2021) ikd-Tree: an incremental KD tree for robotic applications. arXiv Preprint. https:\/\/doi.org\/10.48550\/arXiv.2102.10808","DOI":"10.48550\/arXiv.2102.10808"},{"key":"9404_CR14","doi-asserted-by":"publisher","unstructured":"Caruso B, Leonardi L, Bello LL et\u00a0al (2021) Experimental assessment of TSN support in heterogeneous platforms with virtualization for automotive applications. In: 2021 AEIT international conference on electrical and electronic technologies for automotive (AEIT AUTOMOTIVE). pp 1\u20135. https:\/\/doi.org\/10.23919\/AEITAUTOMOTIVE52815.2021.9662829","DOI":"10.23919\/AEITAUTOMOTIVE52815.2021.9662829"},{"key":"9404_CR15","doi-asserted-by":"publisher","unstructured":"\u010cech M, Beltman AJ, Ozols K (2022) Digital twins and AI in smart motion control applications. In: 2022 IEEE 27th international conference on emerging technologies and factory automation (ETFA). pp 1\u20137. https:\/\/doi.org\/10.1109\/ETFA52439.2022.9921533","DOI":"10.1109\/ETFA52439.2022.9921533"},{"key":"9404_CR16","unstructured":"Cloud Native Computing Foundation (2014) Overview | kubernetes. https:\/\/kubernetes.io\/docs\/concepts\/overview\/"},{"key":"9404_CR17","unstructured":"Corrigan S (2016) Introduction to the controller area network (CAN). Technical report, Texas Instruments. https:\/\/www.ti.com\/lit\/pdf\/sloa101"},{"key":"9404_CR18","unstructured":"Coulter RC (1992) Implementation of the pure pursuit path tracking algorithm. Technical report, Robotics Institute, Carnegie-Mellon University, Pittsburgh, PA. https:\/\/www.ri.cmu.edu\/publications\/implementation-of-the-pure-pursuit-path-tracking-algorithm\/"},{"key":"9404_CR19","doi-asserted-by":"publisher","unstructured":"Ding P, Liu D, Shen Y et\u00a0al (2022) Edge-to-cloud intelligent vehicle-infrastructure based on 5G time-sensitive network integration. In: 2022 IEEE international symposium on broadband multimedia systems and broadcasting (BMSB). pp 1\u20135. https:\/\/doi.org\/10.1109\/BMSB55706.2022.9828687","DOI":"10.1109\/BMSB55706.2022.9828687"},{"issue":"11","key":"9404_CR20","doi-asserted-by":"publisher","first-page":"1471","DOI":"10.1016\/j.jpdc.2012.01.020","volume":"72","author":"Y Dong","year":"2012","unstructured":"Dong Y, Yang X, Li J et al (2012) High performance network virtualization with SR-IOV. J Parallel Distrib Comput 72(11):1471\u20131480. https:\/\/doi.org\/10.1016\/j.jpdc.2012.01.020","journal-title":"J Parallel Distrib Comput"},{"key":"9404_CR21","doi-asserted-by":"publisher","unstructured":"Dosovitskiy A, Ros G, Codevilla F et\u00a0al (2017) CARLA: an open urban driving simulator. In: Proceedings of the 1st annual conference on robot learning. pp 1\u201316. https:\/\/doi.org\/10.48550\/arXiv.1711.03938","DOI":"10.48550\/arXiv.1711.03938"},{"key":"9404_CR22","unstructured":"Dugan J, Estabrook J, Ferbuson J et\u00a0al (2016) iPerf\u2014the TCP, UDP and SCTP network bandwidth measurement tool. https:\/\/iperf.fr\/"},{"key":"9404_CR23","unstructured":"eProsima (2019) ROS 2 using Fast DDS middleware. https:\/\/fast-dds.docs.eprosima.com\/en\/latest\/fastdds\/ros2\/ros2.html"},{"key":"9404_CR24","unstructured":"Evidence (2017) Erika Enterprise RTOS v3. https:\/\/www.erika-enterprise.com\/"},{"issue":"2","key":"9404_CR25","doi-asserted-by":"publisher","first-page":"20","DOI":"10.1109\/MCOMSTD.2018.8412457","volume":"2","author":"J Farkas","year":"2018","unstructured":"Farkas J, Bello LL, Gunther C (2018) Time-sensitive networking standards. IEEE Commun Stand Mag 2(2):20\u201321. https:\/\/doi.org\/10.1109\/MCOMSTD.2018.8412457","journal-title":"IEEE Commun Stand Mag"},{"key":"9404_CR26","doi-asserted-by":"publisher","unstructured":"Farzaneh MH, Knoll A (2017) Time-sensitive networking (TSN): an experimental setup. In: 2017 IEEE vehicular networking conference (VNC). pp 23\u201326. https:\/\/doi.org\/10.1109\/VNC.2017.8275648","DOI":"10.1109\/VNC.2017.8275648"},{"key":"9404_CR27","first-page":"719","volume":"10","author":"H Fayyad","year":"2013","unstructured":"Fayyad H, Perneel L, Timmerman M (2013) Full and para-virtualization with Xen: a performance comparison. J Emerg Trends Comput Inf Sci 10:719\u2013727","journal-title":"J Emerg Trends Comput Inf Sci"},{"issue":"4","key":"9404_CR28","doi-asserted-by":"publisher","first-page":"8","DOI":"10.1109\/MCOMSTD.0004.2200046","volume":"6","author":"N Finn","year":"2022","unstructured":"Finn N (2022) Introduction to time-sensitive networking. IEEE Commun Stand Mag 6(4):8\u201313. https:\/\/doi.org\/10.1109\/MCOMSTD.0004.2200046","journal-title":"IEEE Commun Stand Mag"},{"key":"9404_CR29","unstructured":"FlexRay Consortium (2010) FlexRay communications system protocol specification version 3.0.1. Technical report, FlexRay Consortium. https:\/\/svn.ipd.kit.edu\/nlrp\/public\/FlexRay\/"},{"key":"9404_CR30","unstructured":"Fumio N, Yukinori A, Tsuneo S et\u00a0al (2022) Vehicle electronic control units for autonomous driving in safety and comfort. https:\/\/www.hitachi.com\/rev\/archive\/2022\/r2022_01\/01c01\/index.html"},{"key":"9404_CR31","doi-asserted-by":"publisher","unstructured":"Garbugli A, Rosa L, Foschini L et\u00a0al (2022) A framework for tsn-enabled virtual environments for ultra-low latency 5G scenarios. In: ICC 2022\u2014IEEE international conference on communications. pp 5023\u20135028. https:\/\/doi.org\/10.1109\/ICC45855.2022.9839193","DOI":"10.1109\/ICC45855.2022.9839193"},{"key":"9404_CR32","doi-asserted-by":"publisher","unstructured":"Garbugli A, Rosa L, Bujari A et\u00a0al (2023) KuberneTSN: a deterministic overlay network for time-sensitive containerized environments. arXiv Preprint. https:\/\/doi.org\/10.48550\/arXiv.2302.08398","DOI":"10.48550\/arXiv.2302.08398"},{"key":"9404_CR33","unstructured":"Gergeleit M, Streich H (1994) Implementing a distributed high-resolution real-time clock using the CAN-bus. In: Proceedings of the 1st international CAN conference"},{"key":"9404_CR34","unstructured":"Hackett E (2022) Lin protocol and physical layer requirements. Technical report, Texas Instruments. https:\/\/www.ti.com\/lit\/pdf\/slla383"},{"key":"9404_CR35","doi-asserted-by":"publisher","DOI":"10.1109\/TIE.2023.3237872","author":"D He","year":"2023","unstructured":"He D, Xu W, Zhang F (2023) Symbolic representation and toolkit development of iterated error-state extended Kalman filters on manifolds. IEEE Trans Ind Electron. https:\/\/doi.org\/10.1109\/TIE.2023.3237872","journal-title":"IEEE Trans Ind Electron"},{"key":"9404_CR36","doi-asserted-by":"publisher","unstructured":"Herber C, Richter A, Wild T et\u00a0al (2014) A network virtualization approach for performance isolation in controller area network (CAN). In: 2014 IEEE 19th real-time and embedded technology and applications symposium (RTAS). pp 215\u2013224. https:\/\/doi.org\/10.1109\/RTAS.2014.6926004","DOI":"10.1109\/RTAS.2014.6926004"},{"key":"9404_CR37","doi-asserted-by":"publisher","unstructured":"Huang YL, Lu CH (2014) A VM-based approach for real-time EtherCAT control. In: 2014 CACS international automatic control conference (CACS 2014). pp 344\u2013348. https:\/\/doi.org\/10.1109\/CACS.2014.7097214","DOI":"10.1109\/CACS.2014.7097214"},{"key":"9404_CR38","doi-asserted-by":"publisher","unstructured":"IEEE (2018) IEEE standard for local and metropolitan area network\u2013bridges and bridged networks. IEEE STD 8021Q-2018 (Revision of IEEE STD 8021Q-2014). pp 1\u20131993. https:\/\/doi.org\/10.1109\/IEEESTD.2018.8403927","DOI":"10.1109\/IEEESTD.2018.8403927"},{"key":"9404_CR39","unstructured":"iputils (2022) GitHub\u2014iputils\/iputils: the iputils package is set of small useful utilities for Linux networking. https:\/\/github.com\/iputils\/iputils"},{"key":"9404_CR40","unstructured":"Jailhouse (2015) GitHub\u2014Jailhouse\u2014Linux-based partitioning hypervisor. https:\/\/github.com\/siemens\/jailhouse"},{"key":"9404_CR41","unstructured":"Jailhouse (2020) GitHub\u2014Siemens\/Linux: Linux kernel source tree\u2014ivshmem.c file. https:\/\/github.com\/siemens\/linux\/blob\/jailhouse-enabling\/5.4\/drivers\/net\/ivshmem-net.c"},{"issue":"1","key":"9404_CR42","doi-asserted-by":"publisher","first-page":"16","DOI":"10.1049\/cce:20040104","volume":"15","author":"D Jansen","year":"2004","unstructured":"Jansen D, Buttner H (2004) Real-time Ethernet: the EtherCAT solution. Comput Control Eng 15(1):16\u201321. https:\/\/doi.org\/10.1049\/cce:20040104","journal-title":"Comput Control Eng"},{"key":"9404_CR43","doi-asserted-by":"publisher","first-page":"91771","DOI":"10.1109\/ACCESS.2022.3199356","volume":"10","author":"AA Kane","year":"2022","unstructured":"Kane AA, Mari\u00f1o AG, Fons F et al (2022) Elastic gateway functional safety architecture and deployment: a case study. IEEE Access 10:91771\u201391801. https:\/\/doi.org\/10.1109\/ACCESS.2022.3199356","journal-title":"IEEE Access"},{"key":"9404_CR44","doi-asserted-by":"publisher","DOI":"10.3390\/s19051111","author":"J Lee","year":"2019","unstructured":"Lee J, Park S (2019) Time-sensitive network (TSN) experiment in sensor-based integrated environment for autonomous driving. Sensors. https:\/\/doi.org\/10.3390\/s19051111","journal-title":"Sensors"},{"key":"9404_CR45","doi-asserted-by":"publisher","unstructured":"Leonardi L, Bello LL, Patti G (2020) Towards time-sensitive networking in heterogeneous platforms with virtualization. In: 2020 25th IEEE international conference on emerging technologies and factory automation (ETFA). pp 1155\u20131158. https:\/\/doi.org\/10.1109\/ETFA46521.2020.9212116","DOI":"10.1109\/ETFA46521.2020.9212116"},{"key":"9404_CR46","doi-asserted-by":"publisher","unstructured":"Li C, Xi S, Lu C et\u00a0al (2015) Prioritizing soft real-time network traffic in virtualized hosts based on Xen. In: 21st IEEE real-time and embedded technology and applications symposium. pp 145\u2013156. https:\/\/doi.org\/10.1109\/RTAS.2015.7108436","DOI":"10.1109\/RTAS.2015.7108436"},{"key":"9404_CR47","doi-asserted-by":"publisher","DOI":"10.1109\/TNET.2021.3114055","author":"C Li","year":"2022","unstructured":"Li C, Xi S, Lu C et al (2022) Virtualization-aware traffic control for soft real-time network traffic on Xen. IEEE\/ACM Trans Netw. https:\/\/doi.org\/10.1109\/TNET.2021.3114055","journal-title":"IEEE\/ACM Trans Netw"},{"issue":"8","key":"9404_CR48","doi-asserted-by":"publisher","first-page":"1697","DOI":"10.1109\/JPROC.2019.2915983","volume":"107","author":"S Liu","year":"2019","unstructured":"Liu S, Liu L, Tang J et al (2019) Edge computing for autonomous driving: opportunities and challenges. Proc IEEE 107(8):1697\u20131716. https:\/\/doi.org\/10.1109\/JPROC.2019.2915983","journal-title":"Proc IEEE"},{"issue":"6","key":"9404_CR49","doi-asserted-by":"publisher","first-page":"1094","DOI":"10.1109\/JPROC.2019.2905334","volume":"107","author":"L Lo Bello","year":"2019","unstructured":"Lo Bello L, Steiner W (2019) A perspective on IEEE time-sensitive networking for industrial communication and automation systems. Proc IEEE 107(6):1094\u20131120. https:\/\/doi.org\/10.1109\/JPROC.2019.2905334","journal-title":"Proc IEEE"},{"issue":"66","key":"9404_CR50","doi-asserted-by":"publisher","first-page":"eabm6074","DOI":"10.1126\/scirobotics.abm6074","volume":"7","author":"S Macenski","year":"2022","unstructured":"Macenski S, Foote T, Gerkey B et al (2022) Robot operating system 2: design, architecture, and uses in the wild. Sci Robot 7(66):eabm6074. https:\/\/doi.org\/10.1126\/scirobotics.abm6074","journal-title":"Sci Robot"},{"key":"9404_CR51","doi-asserted-by":"publisher","unstructured":"Meyer P, Steinbach T, Korf F et\u00a0al (2013) Extending IEEE 802.1 AVB with time-triggered scheduling: a simulation study of the coexistence of synchronous and asynchronous traffic. In: 2013 IEEE vehicular networking conference. pp 47\u201354. https:\/\/doi.org\/10.1109\/VNC.2013.6737589","DOI":"10.1109\/VNC.2013.6737589"},{"key":"9404_CR52","unstructured":"MicroROS (2022) Micro-ROS | ROS 2 for microcontrollers. https:\/\/micro.ros.org\/"},{"issue":"3","key":"9404_CR53","doi-asserted-by":"publisher","first-page":"136","DOI":"10.1109\/LNET.2019.2925176","volume":"1","author":"E Mohammadpour","year":"2019","unstructured":"Mohammadpour E, Stai E, Le Boudec JY (2019) Improved credit bounds for the credit-based shaper in time-sensitive networking. IEEE Netw Lett 1(3):136\u2013139. https:\/\/doi.org\/10.1109\/LNET.2019.2925176","journal-title":"IEEE Netw Lett"},{"issue":"1","key":"9404_CR54","doi-asserted-by":"publisher","first-page":"36","DOI":"10.1016\/j.csi.2011.05.002","volume":"34","author":"G Motika","year":"2012","unstructured":"Motika G, Weiss S (2012) Virtio network paravirtualization driver: implementation and performance of a de-facto standard. Comput Stand Interfaces 34(1):36\u201347. https:\/\/doi.org\/10.1016\/j.csi.2011.05.002","journal-title":"Comput Stand Interfaces"},{"key":"9404_CR55","doi-asserted-by":"publisher","DOI":"10.4236\/ijcns.2015.87026","author":"GC Obasuyi","year":"2015","unstructured":"Obasuyi GC, Sari A (2015) Security challenges of virtualization hypervisors in virtualized hardware environment. Int J Commun Netw Syst Sci. https:\/\/doi.org\/10.4236\/ijcns.2015.87026","journal-title":"Int J Commun Netw Syst Sci"},{"key":"9404_CR56","doi-asserted-by":"publisher","DOI":"10.3390\/s23020669","author":"C Park","year":"2023","unstructured":"Park C, Park S (2023) Performance evaluation of zone-based in-vehicle network architecture for autonomous vehicles. Sensors. https:\/\/doi.org\/10.3390\/s23020669","journal-title":"Sensors"},{"key":"9404_CR57","doi-asserted-by":"publisher","unstructured":"Qasaimeh M, Denolf K, Lo J et\u00a0al (2019) Comparing energy efficiency of CPU, GPU and FPGA implementations for vision kernels. In: 2019 IEEE international conference on embedded software and systems (ICESS). pp 1\u20138. https:\/\/doi.org\/10.1109\/ICESS.2019.8782524","DOI":"10.1109\/ICESS.2019.8782524"},{"key":"9404_CR58","unstructured":"RedHat (1999) The Newlib homepage. https:\/\/www.sourceware.org\/newlib\/"},{"key":"9404_CR59","unstructured":"Robert Bosch GmbH (2017) E\/E architecture in a connected world. https:\/\/www.asam.net\/index.php?eID=dumpFile &t=f &f=798 &token=148b5052945a466cacfe8f31c44eb22509d5aad1"},{"key":"9404_CR60","unstructured":"ROS-Bridge Community (2020) Generating ring and time fields for LiDARs #416. https:\/\/github.com\/carla-simulator\/ros-bridge\/issues\/416"},{"key":"9404_CR61","doi-asserted-by":"publisher","unstructured":"Shan T, Englot B, Meyers D et\u00a0al (2020) LIO-SAM: tightly-coupled LiDAR inertial odometry via smoothing and mapping. In: 2020 IEEE\/RSJ international conference on intelligent robots and systems (IROS). pp 5135\u20135142. https:\/\/doi.org\/10.1109\/IROS45743.2020.9341176","DOI":"10.1109\/IROS45743.2020.9341176"},{"key":"9404_CR62","unstructured":"SOAFEE (2022) Scalable open architecture for embedded edge (SOAFEE). https:\/\/www.soafee.io\/. Accessed 4 Apr 2023"},{"key":"9404_CR63","unstructured":"SoC-e (2010) SoC-e.com: system on chip & FPGA IP core development. https:\/\/soc-e.com"},{"key":"9404_CR64","unstructured":"Teledyne FLIR (2019) Firefly DL | Teledyne FLIR. https:\/\/www.flir.co.uk\/products\/firefly-dl\/?model=FFY-U3-16S2C-S-DL &vertical=machine+vision &segment=iis"},{"key":"9404_CR65","doi-asserted-by":"publisher","unstructured":"The Institute of Electrical and Electronics Engineers (IEEE) (2010) IEEE standard for local and metropolitan area networks\u2014virtual bridged local area networks amendment 12: forwarding and queuing enhancements for time-sensitive streams. IEEE STD 8021Qav-2009 (Amendment to IEEE STD 8021Q-2005). pp 1\u201372. https:\/\/doi.org\/10.1109\/IEEESTD.2010.8684664","DOI":"10.1109\/IEEESTD.2010.8684664"},{"key":"9404_CR66","unstructured":"The Linux Foundation (2003) Xen project. https:\/\/xenproject.org\/"},{"key":"9404_CR67","unstructured":"Velodyne (2022) Velodyne\u2014Puck (VLP-16)\u2014LiDAR sensor. https:\/\/velodynelidar.com\/products\/puck\/"},{"issue":"2","key":"9404_CR68","doi-asserted-by":"publisher","first-page":"1243","DOI":"10.1109\/COMST.2018.2888904","volume":"21","author":"J Wang","year":"2019","unstructured":"Wang J, Liu J, Kato N (2019) Networking and communications in autonomous driving: a survey. IEEE Commun Surv Tutor 21(2):1243\u20131274. https:\/\/doi.org\/10.1109\/COMST.2018.2888904","journal-title":"IEEE Commun Surv Tutor"},{"key":"9404_CR69","unstructured":"Xen Project (2014) Network throughput and performance guide. https:\/\/wiki.xenproject.org\/wiki\/Network_Throughput_and_Performance_Guide"},{"key":"9404_CR70","unstructured":"Xen Project (2018) Xen networking. https:\/\/wiki.xenproject.org\/wiki\/Xen_Networking"},{"key":"9404_CR71","unstructured":"XSens (2022) XSens\u2014MTi-G-710 GNSS\/INS\u2014IMU sensor. https:\/\/www.xsens.com\/mti-g-710"},{"issue":"2","key":"9404_CR72","doi-asserted-by":"publisher","first-page":"3317","DOI":"10.1109\/LRA.2021.3064227","volume":"6","author":"W Xu","year":"2021","unstructured":"Xu W, Zhang F (2021) FAST-LIO: a fast, robust LiDAR-inertial odometry package by tightly-coupled iterated Kalman filter. IEEE Robot Autom Lett 6(2):3317\u20133324. https:\/\/doi.org\/10.1109\/LRA.2021.3064227","journal-title":"IEEE Robot Autom Lett"},{"issue":"4","key":"9404_CR73","doi-asserted-by":"publisher","first-page":"2053","DOI":"10.1109\/TRO.2022.3141876","volume":"38","author":"W Xu","year":"2022","unstructured":"Xu W, Cai Y, He D et al (2022) FAST-LIO2: fast direct LiDAR-inertial odometry. IEEE Trans Robot 38(4):2053\u20132073. https:\/\/doi.org\/10.1109\/TRO.2022.3141876","journal-title":"IEEE Trans Robot"},{"issue":"3","key":"9404_CR74","doi-asserted-by":"publisher","first-page":"2899","DOI":"10.1109\/TNSM.2022.3180160","volume":"19","author":"L Zhao","year":"2022","unstructured":"Zhao L, Pop P, Steinhorst S (2022) Quantitative performance comparison of various traffic shapers in time-sensitive networking. IEEE Trans Netw Serv Manag 19(3):2899\u20132928. https:\/\/doi.org\/10.1109\/TNSM.2022.3180160","journal-title":"IEEE Trans Netw Serv Manag"},{"key":"9404_CR75","doi-asserted-by":"publisher","unstructured":"Zheng C, Zhu Q, Xu W et\u00a0al (2022) FAST-LIVO: fast and tightly-coupled sparse-direct LiDAR-inertial-visual odometry. In: 2022 IEEE\/RSJ international conference on intelligent robots and systems (IROS). pp 4003\u20134009. https:\/\/doi.org\/10.1109\/IROS47612.2022.9981107","DOI":"10.1109\/IROS47612.2022.9981107"}],"container-title":["Real-Time Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11241-023-09404-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11241-023-09404-2\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11241-023-09404-2.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,12,8]],"date-time":"2023-12-08T17:13:19Z","timestamp":1702055599000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11241-023-09404-2"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,8,21]]},"references-count":75,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2023,12]]}},"alternative-id":["9404"],"URL":"http:\/\/dx.doi.org\/10.1007\/s11241-023-09404-2","relation":{},"ISSN":["0922-6443","1573-1383"],"issn-type":[{"value":"0922-6443","type":"print"},{"value":"1573-1383","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,8,21]]},"assertion":[{"value":"19 July 2023","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"21 August 2023","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}
