Best Paper Award for Dortmund computer scientist at EMSOFT
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Title: Thread Carefully: Preventing Starvation in the ROS 2 Multi-Threaded Executor
This paper explains why the current design of the Robot Operating Systems 2 (ROS2) suffers from starvation under multithreaded executors and proposes a minimal change in the software architecture to ensure starvation- and deadlock-free behavior.