arXiv subjects

Alexandru Kampmann

Publications and source records attributed to Alexandru Kampmann.

13 recordsLinked to original sources

arXiv2026

StreamRTPS: Increasing DDS Bandwidth Efficiency by Reducing Protocol Overhead

In this paper, we propose three extensions to the Real-Time Publish Subscribe wire protocol, on which Data Distribution Service (DDS) is based, to improve bandwidth efficiency. First, a stream negotiation mechanism exchanges static header information during discovery, replacing the full RTPS header at runtime with a compact 2 B identifier. Second, a payload aggregation scheme aggregates samples for the same locator into single UDP packets, reducing IP and UDP header costs. Third, a predictive heartbeat suppression strategy reduces control traffic by omitting heartbeats for periodic communication patterns, falling back upon detected loss or timing violations. All three mechanisms preserve Real-Time Publish Subscribe(RTPS) compatibility by extending DDS discovery to activate these features when supported. Experimental results show that stream headers reduce bandwidth consumption by up to 27.9 % compared to conventional RTPS under best-effort transport, and that heartbeat suppression yields a further 22.7 % reduction on top of stream headers under reliable transport, while preserving transmission latency in both cases.

cs.NI↗

arXiv2026

Selective Field Transmission: Bandwidth Efficient Communication under Standardized Message Schemas

In this paper, we introduce and evaluate Selective Field Transmission (SFT), a middleware mechanism that decouples transmission content from statically defined message types in publish-subscribe systems. Industrial and robotics developers often face a dilemma: They can follow established best practices and use standard message types, such as in the Robot Operating System 2 (ROS 2) and COVESA projects, to benefit from reusable and interoperable interfaces, or they can introduce proprietary, project-specific message types tailored to receiver requirements to reduce bandwidth. SFT resolves this trade-off by dynamically adapting the transmitted message components to each receivers actual needs while preserving unmodified standard interfaces. Receivers declare or automatically derive the required message components, which are communicated to the publisher. The publisher then serializes and transmits only the required component subset per receiver with minimal developer intervention. Our evaluation shows that SFT achieves significant bandwidth reductions without measurable per-message latency overhead, with savings proportional to the number and size of unused fields.

cs.NI↗

arXiv2026

MISRust: Mapping MISRA-C++ Coding Guidelines to the Rust Programming Language

The Rust programming language is increasingly being considered for safety-critical system development. However, established safety standards such as ISO 26262 require the use of coding guidelines that do not yet exist for Rust. This paper systematically examines each of the 179 MISRA C++ 2023 coding guidelines and classifies them into 6 categories based on their applicability to Rust. Our approach analyzes the rationale behind each MISRA rule to determine whether it remains valid in the Rust programming context. We find that 47.75% of the 111 as-is applicable MISRA rules are automatically enforced by Rust's language design, eliminating the need for explicit guideline enforcement. Furthermore, our analysis explicitly distinguishes between safe and unsafe Rust. We find that 69 guidelines are still relevant and still require either direct application or adaptation for Rust. Importantly, 36 of these rules are automatically satisfied when only using the safe subset of the Rust language. However, they are required again if unsafe Rust features are introduced. We also identify specific areas where new Rust-specific guidelines are needed. Where a guideline does not directly translate, we propose Rust-specific adaptations that preserve its intent. All mapping results and supporting artifacts are publicly available as open-source materials at https://github.com/embedded-software-laboratory/MISRust.

cs.SE↗

arXiv2026

A Comparison of ROS 2 and AUTOSAR Adaptive Platform Against Industry-Elicited Automotive Middleware Requirements

In software-defined vehicles, automotive middleware plays a fundamental role in enabling efficient communication, integration, and coordination among software components. This paper examines how well two of the currently most popular middleware frameworks, ROS 2 Jazzy and AUTOSAR Adaptive Platform R24-11, meet practical requirements elicited from automotive software engineers at one of the major automotive supplier companies, ZF Group. Our objective is to provide insight into an otherwise difficult-to-obtain industrial perspective and support a clearer understanding of priorities in the development and evaluation of middleware for automotive applications.

cs.SE↗

arXiv2026

Coordinating Stakeholders in the Consideration of Performance Indicators and Respective Interface Requirements for Automated Vehicles

This paper presents a process for coordinating stakeholders in their consideration of performance indicators and respective interface requirements for automated vehicles. These performance indicators are obtained and processed based on the system's self-perception and enable the realization of self-aware and self-adaptive vehicles. This is necessary to allow SAE Level 4 vehicles to handle external disturbances as well as internal degradations and failures at runtime. Without such a systematic process for stakeholder coordination, architectural decisions on realizing self-perception become untraceable and effective communication between stakeholders may be compromised. Our process-oriented approach includes necessary ingredients, steps, and artifacts that explicitly address stakeholder communication, traceability, and knowledge transfer through clear documentation. Our approach is based on the experience gained from applying the process in the autotech.agil project, from which we further present lessons learned, identified gaps, and steps for future work.

cs.SE↗

arXiv2025

Towards Timing Isolation for Mixed-Criticality Communication in Software-Defined Vehicles

As the automotive industry transitions toward centralized Linux-based architectures, ensuring the predictable execution of mixed-criticality applications becomes essential. However, concurrent use of the Linux network stack introduces interference, resulting in unpredictable latency and jitter. To address this challenge, we present a layered software architecture that enforces timing isolation for Ethernet-based data exchange between mixed-criticality applications on Linux-based automotive control units. Our approach integrates traffic prioritization strategies at the middleware layer, the network stack layer, and the hardware layer to achieve isolation across the full software stack. At the middleware layer, we implement a fixed-priority, non-preemptive scheduler to manage publishers of varying criticality. At the network layer, we leverage the express data path (XDP) to route high-priority data directly from the network interface driver into critical application memory, bypassing the standard Linux network stack. At the hardware layer, we dedicate a network interface card (NIC) queue exclusively to real-time traffic. We demonstrate how our architecture performs in a Data Distribution Service (DDS)-based system. Our evaluation shows that the approach leads to consistent and predictable latencies for real-time traffic, even under heavy interference from best-effort applications.

cs.NI↗

arXiv2025

Simulation to Reality: Testbeds and Architectures for Connected and Automated Vehicles

Ensuring the safe and efficient operation of CAVs relies heavily on the software framework used. A software framework needs to ensure real-time properties, reliable communication, and efficient resource utilization. Furthermore, a software framework needs to enable seamless transition between testing stages, from simulation to small-scale to full-scale experiments. In this paper, we survey prominent software frameworks used for in-vehicle and inter-vehicle communication in CAVs. We analyze these frameworks regarding opportunities and challenges, such as their real-time properties and transitioning capabilities. Additionally, we delve into the tooling requirements necessary for addressing the associated challenges. We illustrate the practical implications of these challenges through case studies focusing on critical areas such as perception, motion planning, and control. Furthermore, we identify research gaps in the field, highlighting areas where further investigation is needed to advance the development and deployment of safe and efficient CAV systems.

cs.MA↗

arXiv2025

Automotive Middleware Performance: Comparison of FastDDS, Zenoh and vSomeIP

In this study, we evaluate the performance of current automotive communication middlewares under various operating conditions. Specifically, we examine FastDDS, a widely used open-source middleware, the newly developed Zenoh middleware, and vSomeIP, COVESAs open-source implementation of SOME/IP. Our objective is to identify the best performing middleware for specific operating conditions. To ensure accessibility, we first provide a concise overview of middleware technologies and their fundamental principles. We then introduce our testing methodology designed to systematically assess middleware performance metrics such as scaling performance, end-to-end latency, and discovery times across multiple message types, network topologies, and configurations. Finally, we compare the resulting performance data and present our results in nine findings. Our evaluation code and the resulting data will be made publicly available upon acceptance.

cs.PF↗

arXiv2024

Modern Middlewares for Automated Vehicles: A Tutorial

This paper offers a tutorial on current middlewares in automated vehicles. Our aim is to provide the reader with an overview of current middlewares and to identify open challenges in this field. We start by explaining the fundamentals of software architecture in distributed systems and the distinguishing requirements of Automated Vehicles. We then distinguish between communication middlewares and architecture platforms and highlight their key principles and differences. Next, we present five state-of-the-art middlewares as well as their capabilities and functions. We explore how these middlewares could be applied in the design of future vehicle software and their role in the automotive domain. Finally, we compare the five middlewares presented and discuss open research challenges.

cs.SE↗

arXiv2022

Investigating Outdoor Recognition Performance of Infrared Beacons for Infrastructure-based Localization

This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We describe the camera and beacon design as well as the image processing pipeline in detail. In our experiments, we investigate and demonstrate the ability of the system to recognize our beacons in both daytime and nighttime conditions. High precision localization is a key enabler for automated vehicles but remains unsolved, despite strong recent improvements. Our low-cost, infrastructure-based approach is a potential step towards solving the localization problem. All datasets are made available here https://embedded.rwth-aachen.de/doku.php?id=forschung:mobility:infralocalization:concept.

cs.CV↗

arXiv2022

Cyber-Physical Mobility Lab: An Open-Source Platform for Networked and Autonomous Vehicles

This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab hosts 20 physical model-scale vehicles (μCars) which we can seamlessly extend by unlimited simulated vehicles. The code and construction plans are publicly available to enable rebuilding the CPM Lab. Our four-layered architecture enables the seamless use of the same software in simulations and in experiments without any further adaptions. A Data Distribution Service (DDS) based middleware allows adapting the number of vehicles during experiments in a seamless manner. The middleware is also responsible for synchronizing all entities following a logical execution time approach to achieve determinism and reproducibility of experiments. This approach makes the CPM Lab a unique platform for rapid functional prototyping of networked decision-making algorithms. The CPM Lab allows researchers as well as students from different disciplines to see their ideas developing into reality. We demonstrate its capabilities using two example experiments. We are working on a remote access to the CPM Lab via a webinterface.

cs.MA↗

arXiv2020

Reducing Uncertainty by Fusing Dynamic Occupancy Grid Maps in a Cloud-based Collective Environment Model

Accurate environment perception is essential for automated vehicles. Since occlusions and inaccuracies regularly occur, the exchange and combination of perception data of multiple vehicles seems promising. This paper describes a method to combine perception data of automated and connected vehicles in the form of evidential Dynamic Occupany Grid Maps (DOGMas) in a cloud-based system. This system is called the Collective Environment Model and is part of the cloud system developed in the project UNICARagil. The presented concept extends existing approaches that fuse evidential grid maps representing static environments of a single vehicle to evidential grid maps computed by multiple vehicles in dynamic environments. The developed fusion process additionally incorporates self-reported data provided by connected vehicles instead of only relying on perception data. We show that the uncertainty in a DOGMa described by Shannon entropy as well as the uncertainty described by a non-specificity measure can be reduced. This enables automated and connected vehicles to behave in ways not before possible due to unknown but relevant information about the environment.

eess.SP↗

arXiv2020

Networked and Autonomous Model-scale Vehicles for Experiments in Research and Education

This paper presents the $\mathrmμ$Car, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed and highly flexible, which allows for many applications. It is equipped with an inertial measurement unit and an odometer and obtains its pose via WLAN from an indoor positioning system. The two supported operating modes for controlling the vehicle are (1) computing control inputs on external hardware, transmitting them via WLAN and applying received inputs to the actuators and (2) transmitting a reference trajectory via WLAN, which is then followed by a controller running on the onboard Raspberry Pi Zero W. The design allows identical vehicles to be used at the same time in order to conduct experiments with a large amount of networked agents.

cs.RO↗