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1. Real-Time LaCAM for Real-Time MAPF

   https://doi.org/10.1609/socs.v18i1.35993  

   Liang, Runzhe; Veerapaneni, Rishi; Harabor, Daniel; Li, Jiaoyang; Likhachev, Maxim (July 2025, Proceedings of the International Symposium on Combinatorial Search)

   The vast majority of Multi-Agent Path Finding (MAPF) methods with completeness guarantees require planning full-horizon paths. However, planning full-horizon paths can take too long and be impractical in real-world applications. Instead, real-time planning and execution, which only allows the planner a finite amount of time before executing and replanning, is more practical for real-world multi-agent systems. Several methods utilize real-time planning schemes but none are provably complete, which leads to livelock or deadlock. Our main contribution is Real-Time LaCAM, the first Real-Time MAPF method with provable completeness guarantees. We do this by leveraging LaCAM in an incremental fashion. Our results show how we can iteratively plan for congested environments with a cutoff time of milliseconds while still maintaining the same success rate as full-horizon LaCAM. We also show how it can be used with a single-step learned MAPF policy. 

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2. Real-time MLton: A Standard ML runtime for real-time functional programs

   https://doi.org/10.1017/S0956796821000174  

   SHIVKUMAR, BHARGAV; MURPHY, JEFFREY; ZIAREK, LUKASZ (January 2021, Journal of Functional Programming)

   Abstract There is a growing interest in leveraging functional programming languages in real-time and embedded contexts. Functional languages are appealing as many are strictly typed, amenable to formal methods, have limited mutation, and have simple but powerful concurrency control mechanisms. Although there have been many recent proposals for specialized domain-specific languages for embedded and real-time systems, there has been relatively little progress on adapting more general purpose functional languages for programming embedded and real-time systems. In this paper, we present our current work on leveraging Standard ML (SML) in the embedded and real-time domains. Specifically, we detail our experiences in modifying MLton, a whole-program optimizing compiler for SML, for use in such contexts. We focus primarily on the language runtime, reworking the threading subsystem, object model, and garbage collector. We provide preliminary results over a radar-based aircraft collision detector ported to SML. 

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3. Securing Real-Time Internet-of-Things

   https://doi.org/10.3390/s18124356  

   Chen, Chien-Ying; Hasan, Monowar; Mohan, Sibin (December 2018, Sensors)

   Modern embedded and cyber-physical systems are ubiquitous. Many critical cyber-physical systems have real-time requirements (e.g., avionics, automobiles, power grids, manufacturing systems, industrial control systems, etc.). Recent developments and new functionality require real-time embedded devices to be connected to the Internet. This gives rise to the real-time Internet-of-things (RT-IoT) that promises a better user experience through stronger connectivity and efficient use of next-generation embedded devices. However, RT-IoT are also increasingly becoming targets for cyber-attacks, which is exacerbated by this increased connectivity. This paper gives an introduction to RT-IoT systems, an outlook of current approaches and possible research challenges towards secure RT-IoT frameworks. 

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4. Real-Time Time-Dependent Electronic Structure Theory

   https://doi.org/10.1021/acs.chemrev.0c00223  

   Li, Xiaosong; Govind, Niranjan; Isborn, Christine; DePrince, A. Eugene; Lopata, Kenneth (September 2020, Chemical Reviews)

   null (Ed.)
5. Adaptive Real-Time Routing in Polynomial Time

   https://doi.org/10.1109/RTSS46320.2019.00034  

   Agrawal, Kunal; Baruah, Sanjoy (December 2019, 2019 IEEE Real-Time Systems Symposium (RTSS))