Giorgio Buttazzo's Major Publications

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Giorgio Buttazzo's Major Publications

Giorgio Buttazzo's Major Publications

Selected papers (listed in reverse chronological order)

2005

Giorgio Buttazzo,"Rate Monotonic vs. EDF: Judgment Day", Real-Time Systems, Vol. 29, Issue 1, pp. 5-26, January 2005.

2004

Enrico Bini and Giorgio Buttazzo, "Schedulability Analysis of Periodic Fixed Priority Systems", IEEE Transactions on Computers, Vol. 53, Issue 11, pp. 1462-1473, November 2004.
Giorgio Buttazzo, "HARD REAL-TIME COMPUTING SYSTEMS: Predictable Scheduling Algorithms and Applications", Second Edition, Springer, 2004.
L. Sha, T. Abdelzaher, K. Arzen, A. Cervin, T. Baker, A. Burns, G. Buttazzo, M. Caccamo, J. Lehoczky, A. Mok, "Real-Time Scheduling Theory: A Hystorical Perspective", Real-Time Systems, Vol. 28, Issue 2-3,pp. 101-155, December 2004.
Tullio Facchinetti, Luis Almeida, Giorgio Buttazzo and Carlo Marchini, "Real-Time Resource Reservation Protocol for Wireless Mobile Ad Hoc Networks", Proceedings of the IEEE Real-Time Systems Symposium, Lisbon, Portugal, December 2004.
Giorgio Buttazzo, Mauro Marinoni, and Giacomo Guidi, "Energy-Aware Strategies in Real-Time Systems for Autonomous Robots", Proceedings of the 19th International Symposium on Computer and Information Sciences (ISCIS 2004), Kemer–Antalya, Turkey, October 27-29, 2004.
Anton Cervin, Bo Lincoln, Johan Eker, Karl-Erik Årzén, and Giorgio Buttazzo, "The Jitter Margin and Its Application in the Design of Real-Time Control Systems", Proceedings of the 10th International Conference on Real-Time and Embedded Computing Systems and Applications (RTCSA 2004), Gothenburg, Sweden, August 25-27, 2004.
Luca Abeni and Giorgio C. Buttazzo, "Resource Reservation in Dynamic Real-Time Systems", Real-Time Systems, Vol. 27, No. 2, pp. 123-167, July 2004.
Giorgio Buttazzo, Manel Velasco, Pau Marti, and Gerhard Fohler, "Managing Quality-of-Control Performance Under Overload Conditions", IEEE Proceedings of the 16th Euromicro Conference on Real-Time Systems, Catania, Italy, July 2004.
Enrico Bini and Giorgio Buttazzo, "Biasing Effects in Schedulability Measures", IEEE Proceedings of the 16th Euromicro Conference on Real-Time Systems, Catania, Italy, July 2004.
Tullio Facchinetti and Giorgio Buttazzo, "Integrated Wireless Communication Protocol for Ad-Hoc Mobile Networks", Proceedings of the Third International Workshop on Real-Time Networks, Catania, Italy, June 29, 2004.

2003

Giorgio Buttazzo, "Rate Monotonic vs. EDF: Judgment Day", Proceedings of the 3rd ACM International Conference on Embedded Software (EMSOFT 2003), Philadephia, October 13-15, 2003.
Paolo Gai and Giorgio Buttazzo, "An Open Source Real-Time Kernel for Control Applications", Proceedings of the 47th Italian Conference of Factory Automation (ANIPLA 2003), Brescia, Italy, November 21-22, 2003.
Enrico Bini, Giorgio Buttazzo and Giuseppe Buttazzo, "Rate Monotonic Analysis: The Hyperbolic Bound", IEEE Transactions on Computers, Vol. 52, No. 7, July 2003.
Liesbeth Steffens, Gerhard Folher, Giuseppe Lipari and Giorgio Buttazzo, "Resource Reservation and Service Contract", Proceedings of the International Workshop on Advanced Real-Time Operating Systems Services (ARTOSS 2003), Porto, Portugal, July 1, 2003.
Paolo Gai and Giorgio Buttazzo, "Mutual exclusion in operating systems with application defined scheduling", Proceedings of the International Workshop on Advanced Real-Time Operating Systems Services (ARTOSS 2003), Porto, Portugal, July 1, 2003.
Tullio Facchinetti, Giorgio Buttazzo, Marco Caccamo and Luis Almeida, "Wireless real-time communication protocol for cooperating mobile units", Proceedings of the 2nd International Workshop on Real-Time LANs in the Internet Age (RTLIA 2003), Porto, Portugal, July 1, 2003.
Tullio Facchinetti and Giorgio Buttazzo, "A Real-Time System for Tracking and Catching Moving Targets", Proceedings of the 5th IFAC International Symposium on Intelligent Components and Instruments for Control Applications (SICICA 2003), Aveiro, Portugal, July 9-11, pp. 251-256, 2003.
Giuseppe Carnevali and Giorgio Buttazzo, "A Virtual Laboratory Environment for Real-Time Experiments", Proceedings of the 5th IFAC International Symposium on Intelligent Components and Instruments for Control Applications (SICICA 2003), Aveiro, Portugal, July 9-11, pp. 39-44, 2003.
Mauro Marinoni, Alessio Carlini and Giorgio Buttazzo, "A six-legged robot: Real-Time issues and architecture", Proceedings of the 5th IFAC International Symposium on Intelligent Components and Instruments for Control Applications (SICICA 2003), Aveiro, Portugal, July 9-11, pp. 245-250, 2003.
Giuseppe Carnevali and Giorgio Buttazzo, "Controlling a Ball Balancing Device via Web", Proceedings of the IASTED International Conference on Robotics and Applications (RA 2003), Salzburg, Austria, June 25-27, pp. 29-34, 2003.
Mauro Marinoni and Giorgio Buttazzo, "A Computer Architecture for Small Walking Robots", Proceedings of the IASTED International Conference on Robotics and Applications (RA 2003), Salzburg, Austria, June 25-27, pp. 183-188, 2003.
Alessio Carlini and Giorgio Buttazzo, "An Efficient Time Representation for Real-Time Embedded Systems", Proceedings of the ACM Symposium on Applied Computing (SAC 2003), track on Embedded Systems: Applications, Solutions, and Techniques, Melbourne, Florida, USA, March 9-12, 2003.

2002

Enrico Bini and Giorgio Buttazzo, "The Space of Rate Monotonic Schedulability", Proceedings of the IEEE Real-Time Systems Symposium, Austin, Texas, December 2002.
Marco Caccamo, Lynn Y. Zhang, Lui Sha, and Giorgio Buttazzo, "An Implicit Prioritized Access Protocol for Wireless Sensor Networks", Proceedings of the IEEE Real-Time Systems Symposium, Austin, Texas, December 2002.
Giorgio Buttazzo, "Scalable Applications for Energy-Aware Processors", Proceedings of the 2nd International Conference on Embedded Software (EMSOFT 2002), Grenoble, France, Vol. 2491 of Lecture Notes in Computer Science, Springer-Verlag, pp. 153-165, October 2002.
Giorgio Buttazzo, "Real-Time Operating Systems: Problems and Novel Solutions", Proceedings of the 7th International Symposium on Formal Techniques in Real-Time and Fault-Tolerant Systems (FTRTFT 2002), Oldenburg, Germany, Vol. 2469 of Lecture Notes in Computer Science, Springer-Verlag, pp. 37-51, September 2002.
Paulo Pedreiras, Paolo Gai, Giorgio Buttazzo, and Luis Almeida, "FTT-Ethernet: A Platform to Implement the Elastic Task Model over Message Streams", Proceedings of the 4th IEEE Workshop on Factory Communication Systems (WFCS 2002), pp. 225-232, Västeras, Sweden, August 2002.
Giorgio Buttazzo and Luca Abeni, "Adaptive Workload Management through Elastic Scheduling", Real-Time Systems, Vol. 23, No. 1-2, pp. 7-24, July-September 2002.
M. Caccamo, G.C. Buttazzo, L. Sha, "Handling Execution Overruns in Hard Real-Time Control Systems", IEEE Transactions on Computers, Vol. 51, No. 7, pp. 835-849, July 2002.
Giorgio Buttazzo and Luca Abeni, "Smooth Rate Adaptation through Impedance Control", IEEE Proceedings of the 14th Euromicro Conference on Real-Time Systems, Vienna, Austria, June 2002.
Paolo Gai, Luca Abeni and Giorgio Buttazzo, "Multiprocessor DSP Scheduling in System-on-a-chip Architectures", IEEE Proceedings of the 14th Euromicro Conference on Real-Time Systems, Vienna, Austria, June 2002.
G.C. Buttazzo, G. Lipari, M. Caccamo, L. Abeni, "Elastic Scheduling for Flexible Workload Management", IEEE Transactions on Computers, Vol. 51, No. 3, pp. 289-302, March 2002.
Gerhard Fohler and Giorgio Buttazzo, "Flexible Scheduling for Real-Time Systems", Editorial, Real-Time Systems, Vol. 22, No. 1-2, pp. 5-7, January-March 2002.

2001

Gerhard Fohler, Tomas Lennvall and Giorgio Buttazzo, "Improved Handling of Soft Aperiodic Tasks in Offline Scheduled Real-Time Systems using Total Bandwidth Server", Proceedings of the 8th IEEE Int. Conf. on Emerging Technologies and Factory Automation Nice, France, October 2001.
João Capucho, Luís Almeida, and Giorgio C. Buttazzo, "Simulating the Micro-Rato robotics contest with a real-time kernel", Robotica, No. 44, 2001.
Giorgio Buttazzo, "Artificial Consciousness: Utopia or Real-Possibility?", IEEE Computer, Vol. 34, No. 7, July 2001.
Enrico Bini, Giorgio Buttazzo and Giuseppe Buttazzo, "A Hyperbolic Bound for the Rate Monotonic Algorithm", IEEE Proceedings of the 13th Euromicro Conference on Real-Time Systems, Delft, The Netherlands, June 2001.
P. Gai, L. Abeni, M. Giorgi, G. Buttazzo, "A New Kernel Approach for Modular Real-Time Systems Development", IEEE Proceedings of the 13th Euromicro Conference on Real-Time Systems, Delft, The Netherlands, June 2001.
Luca Abeni and Giorgio Buttazzo, "Hierarchical QoS Management for Time Sensitive Applications", Proceedings of the IEEE Real-Time Technology and Applications Symposium, Taipei, Taiwan, May 2001.
J. Capucho, L. Almeida, and G. Buttazzo, "Using a Real-Time Kernel to Simulate the Micro-Rato Robotics Contest", Proceedings of ROBOTICA 2001, Guimarães, Portugal, April 2001.
Luca Abeni and Giorgio Buttazzo, "Stochastic Analysis of a Reservation Based System", Proceedings of the 9th International Workshop on Parallel and Distributed Real-Time Systems, San Francisco, April 2001.

2000

L. Abeni and G. Buttazzo, "Support for Dynamic QoS in the HARTIK Kernel", IEEE Proceedings of the 7th International Conference on Real-Time Computing Systems and Applications, Cheju Island, South Korea, December 2000.
G. Buttazzo and L. Abeni, "Adaptive Rate Control through Elastic Scheduling", Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December 2000.
X. Liu, L. Sha, M. Caccamo, and G. Buttazzo, "Online Control Optimization Using Load Driven Scheduling", Proceedings of the 39th IEEE Conference on Decision and Control, Sydney, Australia, December 2000.
M. Caccamo, G. Buttazzo, and L. Sha, "Capacity Sharing for Overrun Control", Proceedings of the IEEE Real-Time Systems Symposium, Orlando, Florida, December 2000.
L. Palopoli, L. Abeni, G. Buttazzo, F. Conticelli, and M. Di Natale, "Real-Time control system analysis: an integrated approach", Proceedings of the IEEE Real-Time Systems Symposium, Orlando, Florida, December 2000.
L. Abeni, L. Palopoli, and G. Buttazzo, "On Adaptive Control Techniques in Real-Time Resource Allocation", IEEE Proceedings of the 12th Euromicro Conference on Real-Time Systems, Stockholm, Sweden, pp. 129-136, June 2000.
M. Caccamo, G. Buttazzo, and L. Sha, "Elastic Feedback Control", IEEE Proceedings of the 12th Euromicro Conference on Real-Time Systems, Stockholm, Sweden, pp. 121-128, June 2000.
M. Alves, E. Tovar, G. Fohler, and G. Buttazzo, "CIDER - Envisaging a COTS Communication Infrastructure for Evolutionary Dependable Real-Time Systems", Proceedings of the 12th Euromicro Conference on Real-Time Systems, Work in Progress Session, Stockholm, Sweden, pp. 19-22, June 2000.
G. Buttazzo, "Sistemi Real-Time per il Controllo Automatico: Problemi e Nuove Soluzioni", Automazione e Strumentazione, Anno XLVIII, N. 5, pp. 107-116, Maggio 2000.
G. Buttazzo, "Can a Machine Ever Become Self-aware?", in Artificial Humans, an historical retrospective of the Berlin International Film Festival 2000, Edited by R. Aurich, W. Jacobsen and G. Jatho, Goethe Institute, Los Angeles, pp. 45-49, May 2000.
G. Lipari and G. Buttazzo, "Schedulability Analysis of Periodic and Aperiodic Tasks with Resource Constraints", Journal of Systems Architecture, Vol. 46, No. 4, pp. 327-338, January 2000.

1999

S. Baruah, G. Buttazzo, S. Gorinsky, and G. Lipari, "Scheduling Periodic Task Systems to Minimize Output Jitter", Proceedings of the 6th IEEE International Conference on Real-Time Computing Systems and Applications, Hong Kong, pp. 62-69, December 1999.
L. Abeni and G. Buttazzo, "Adaptive Bandwidth Reservation for Multimedia Computing", Proceedings of the 6th IEEE International Conference on Real-Time Computing Systems and Applications, Hong Kong, pp. 70-77, December 1999.
L. Palopoli, G. Buttazzo, and P. Ancilotti, "A C Language Extension for Programming Real-Time Applications", Proceedings of the 6th IEEE International Conference on Real-Time Computing Systems and Applications, Hong Kong, pp. 103-110, December 1999.
M. Caccamo, G. Lipari, and G. Buttazzo, "Sharing Resources among Periodic and Aperiodic Tasks With Dynamic Deadlines", Proceedings of the IEEE Real-Time Systems Symposium, Phoenix, Arizona, pp. 284-293, December 1999.
G. Buttazzo and F. Sensini, "Optimal Deadline Assignment for Scheduling Soft Aperiodic Tasks in Hard Real-Time Environments", IEEE Transactions on Computers, Vol. 48, No. 10, October 1999.
L. Abeni, G. Lipari, and G. Buttazzo, "Constant Bandwidth vs. Proportional Share Resource Allocation", Proceedings of the IEEE International Conference on Multimedia Computing and Systems (ICMCS'99), Florence, Italy, Vol. II, pp. 107-111, June 1999.
G. Lipari and G. Buttazzo, "Scheduling Real-Time Multi-Task Applications in an Open System", IEEE Proceedings of the 11th Euromicro Conference on Real-Time Systems, York, England, pp. 234-241, June 1999.
L. Abeni and G. Buttazzo, "QoS Guarantee Using Probabilistic Deadlines", IEEE Proceedings of the 11th Euromicro Conference on Real-Time Systems, York, England, pp. 242-249, June 1999.
G. Buttazzo and M. Caccamo, "Minimizing Aperiodic Response Times in a Firm Real-Time Environment", IEEE Transactions on Software Engineering, Vol. 25, No. 1, pp. 22-32, January/February 1999.

1998

L. Abeni and G. Buttazzo, "Integrating Multimedia Applications in Hard Real-Time Systems", Proceedings of the IEEE Real-Time Systems Symposium, Madrid, Spain, pp. 4-13, December 1998.
G. Buttazzo, G. Lipari, and L. Abeni, "Elastic Task Model for Adaptive Rate Control", Proceedings of the IEEE Real-Time Systems Symposium, Madrid, Spain, pp. 286-295, December 1998.
L. Palopoli and G. Buttazzo, "ALERT: A C Language Extension for Real-Time Systems", Proceedings of the IEEE Workshop on Programming Languages for Real-Time Industrial Applications, Madrid, Spain, pp. 29-36, December 1998.
G. Lipari, G. Buttazzo, and L. Abeni, "A Bandwidth Reservation Algorithm for Multi-Application Systems", Proceedings of the IEEE International Conference on Real-Time Computing Systems and Applications, Hiroshima, Japan, pp. 77-82, October 1998.
M. Caccamo and G. Buttazzo, "Optimal Scheduling for Fault-Tolerant and Firm Real-Time Systems", Proceedings of the IEEE International Conference on Real-Time Computing Systems and Applications, Hiroshima, Japan, pp. 223-231, October 1998.
A. Casile, G. Buttazzo, G. Lamastra, and G. Lipari, "Simulation and Tracing of Hybrid Task Sets in Distributed Systems", Proceedings of the IEEE International Conference on Real-Time Computing Systems and Applications, Hiroshima, Japan, pp. 249-256, October 1998.
J. Stankovic, K. Ramamritham, M. Spuri, and G. Buttazzo, "Deadline Scheduling for Real-Time Systems", Kluwer Academic Publishers, Boston, 1998.
G. Buttazzo, A. Casile, G. Lamastra, G. Lipari, "A Scheduling Simulator for Real-Time Distributed Systems", Proceedings of the IFAC Workshop on Distributed Computer Control Systems (DCCS '98), Como, Italy, pp. 167-173, September 1998.
L. Abeni, G. Lipari, G. Buttazzo, "A Bandwidth-Based Server for Multimedia Applications", Proceedings of the 10th Euromicro Workshop on Real-Time Systems, Berlin, Germany, Work in Progress session, pp. 11-14, May 1998.
P. Ancilotti, G. Buttazzo, M. Di Natale, M. Spuri, "Design and Programming Tools for Time Critical Applications", Real-Time Systems, Vol. 14, No. 3, pp. 251-267, May 1998.

1997

G. Buttazzo, "HARD REAL-TIME COMPUTING SYSTEMS: Predictable Scheduling Algorithms and Applications", Kluwer Academic Publishers, Boston, 1997.
M. Caccamo and G. C. Buttazzo, "Exploiting Skips in Periodic Tasks for Enhancing Aperiodic Responsiveness", Proceedings of the 18th Real-Time System Symposium, San Francisco, California, pp. 330-339, December 1997.
G. Lamastra, G. Lipari, G. C. Buttazzo, A. Casile, and F. Conticelli, "HARTIK 3.0: A Portable System for Developing Real-Time Applications", Proceedings of the 4th IEEE International Workshop on Real-Time Computing Systems and Applications (RTCSA), Taipei, Taiwan, pp. 43-50, October 1997.
G. C. Buttazzo, F. Conticelli, G. Lamastra, and G. Lipari, "Robot Control in Hard Real-Time Environment", Proceedings of the 4th IEEE International Workshop on Real-Time Computing Systems and Applications (RTCSA), Taipei, Taiwan, pp. 152-159, October 1997.
G. C. Buttazzo and F. Sensini, "Optimal Deadline Assignment for Scheduling Soft Aperiodic Tasks in Hard Real-Time Environments", Proceedings of the 3rd IEEE International Conference on Engineering of Complex Computer Systems (ICECCS), Como, Italy, pp. 39-48, September 1997.
G. C. Buttazzo and G. Lipari, "Scheduling Analysis of Hybrid Real-Time Task Sets", Proceedings of the 9th IEEE Euromicro Workshop on Real-Time Systems, Toledo, Spain, pp. 200-206, June 1997.
F. Sensini, G. C. Buttazzo, and P. Ancilotti, "GHOST: A Tool for Simulation and Analysis of Real-Time Scheduling Algorithms", Proceedings of the IEEE Real-Time Educational Workshop (RTEW'97), Montreal, Canada, pp. 42-49, June 1997.

1996

P. Ancilotti, G. Buttazzo, M. Di Natale, M. Bizzarri, "The MORIS Control System", Proceedings of the 8th IEEE Euromicro Workshop on Real-Time Systems, L'Aquila, Italy, pp. 77-82, June 1996.
G. Buttazzo, "Real-Time Issues in Advanced Robotics Applications", Proc. of the 8th IEEE Euromicro Workshop on Real-Time Systems, L'Aquila, Italy, pp. 133-138, June 1996.
P. Ancilotti, G. Buttazzo, M. Di Natale, M. Bizzarri, "A Flexible Tool Kit for the Development of Real-Time Applications", Proceedings of the 2nd IEEE Real-Time Technology and Applications Symposium, Boston, Massachusetts, pp. 260-262, June 1996.
M. Spuri and G. Buttazzo, "Scheduling Aperiodic Tasks in Dynamic Priority Systems", The Journal of Real-Time Systems, Vol. 10, No. 2, pp. 179-210, March 1996.
P. Ancilotti, G. Buttazzo, M. Di Natale, M. Spuri, "A Development Environment for Hard Real-Time Applications", International Journal of Software and Knowledge Engineering, Vol. 6, No. 3, 1996.

1995

M. Spuri, G. Buttazzo, F. Sensini, "Robust Aperiodic Scheduling Under Dynamic Priority Systems", Proceedings of the 16th IEEE Real-Time System Symposium (RTSS 95), Pisa, Italy, pp. 210-219, December 1995.
G. Buttazzo, M. Spuri, F. Sensini, "Value vs. Deadline Scheduling in Overload Conditions", Proceedings of the 16th Real-Time System Symposium (RTSS 95), Pisa, Italy, pp. 90-99, December 1995.
Giorgio C. Buttazzo: "Sistemi in Tempo Reale", Pitagora Editrice, Bologna, 1995.
J. Stankovic, M. Spuri, M. Di Natale, G. Buttazzo, "Implications of Classical Scheduling Results for Real-Time Systems", IEEE Computer, Vol. 28, No. 6, pp. 16-25, June 1995.
G. Buttazzo and J. Stankovic, "Adding Robustness in Dynamic Preemptive Scheduling", in Responsive Computer Systems: Steps Toward Fault-Tolerant Real-Time Systems, Edited by D. S. Fussell and M. Malek, Kluwer Academic Publishers, Boston, 1995.

1994

M. Spuri and G. Buttazzo, "Efficient Aperiodic Service under Earliest Deadline Scheduling", Proceedings of the 15th IEEE Real-Time System Symposium (RTSS 94), Portorico, pp. 2-21, December 1994.
D. Micci Barreca and G. C. Buttazzo, "A Hybrid Architecture for Failure-Based Learning", in Neural Nets WIRN Vietri-93, Edited by E. R. Caianiello, World Scientific Publishing, Singapore-New Jersey-London, pp. 233-240, 1994.
G. Buttazzo, B. Allotta, F. Fanizza, "Mousebuster: a Robot for Catching Fast Objects", IEEE Control Systems Magazine, Vol. 14, No. 1, pp. 49-56, February 1994.

1993

G. Buttazzo, B. Allotta, and F. Fanizza, "Mousebuster: a Robot System for Catching Fast Moving Objects by Vision", Proceedings of IEEE International Conference on Robotics and Automation, Atlanta, May 1993.
P. Ancilotti, G. Buttazzo, M. Di Natale, and M. Spuri, "TRACS: A Flexible Real-Time Environment for Traffic Control Systems", Proceedings of the IEEE Workshop on Real-Time Applications, New York, pp. 50-53, May 1993.
P. Ancilotti, G. Buttazzo, M. Di Natale, and M. Spuri, "A Real-Time Vessel Traffic System", Proceedings of the First International Workshop on Mechatronical Computer Systems for Perception and Action, Halmstad University, Sweden, pp. 19-23, June 1993.
G. Buttazzo, and M. Di Natale, "HARTIK: A Hard Real-Time Kernel for Robot Control", Proceedings of the First International Workshop on Mechatronical Computer Systems for Perception and Action, Halmstad University, Sweden, pp. 31-38, June 1993.
B. Allotta, G. Buttazzo, and F. Fanizza, "High Performance Hand-Eye Coordination: the Ball and Plate Problem", Proceedings of the First International Workshop on Mechatronical Computer Systems for Perception and Action, Halmstad University, Sweden, pp. 173-179, June 1993.
D. Micci Barreca and G. Buttazzo, "Learning Control Tasks by Failure Signals", Proceedings of the 1993 World Congress on Neural Networks, Portland, Oregon, July 1993.
G. Buttazzo and J. Stankovic, "RED: Robust Earliest Deadline Scheduling", Proceedings of The Third International Workshop on Responsive Computing Systems, Lincoln, New Hampshire, USA, pp. 100-111, September 1993.
B. Allotta, G. Buttazzo, and F. Fanizza, "Real-Time Visual Control", Proceedings of the Third International Symposium on Measurement and Control in Robotics, Torino, Italy, pp. 1-6, September 1993.
G. Buttazzo, B. Allotta, and F. Fanizza, "Performance Enhancement in Real-Time Visual Servoing", Proceedings of the Third International Symposium on Measurement and Control in Robotics, Torino, Italy, pp. 25-29, September 1993.
G. Buttazzo, "HARTIK: A Real-Time Kernel for Robotics Applications", Proceedings of the 14th IEEE Real-Time System Symposium, Raleigh-Durham, pp. 201-205, December 1993.