@inproceedings{li2022worst,
  title={Worst-Case Time Disparity Analysis of Message Synchronization in ROS},
  author={Li, Ruoxiang and Guan, Nan and Jiang, Xu and Guo, Zhishan and Dong, Zheng and Lv, Mingsong},
  booktitle={2022 IEEE Real-Time Systems Symposium (RTSS)},
  pages={40--52},
  year={2022},
  organization={IEEE}
}