A concurrent copying garbage collector for languages that distinguish (im)mutable data
PPOPP '93 Proceedings of the fourth ACM SIGPLAN symposium on Principles and practice of parallel programming
A concurrent, generational garbage collector for a multithreaded implementation of ML
POPL '93 Proceedings of the 20th ACM SIGPLAN-SIGACT symposium on Principles of programming languages
Communicating and mobile systems: the &pgr;-calculus
Communicating and mobile systems: the &pgr;-calculus
List processing in real time on a serial computer
Communications of the ACM
On-the-fly garbage collection: an exercise in cooperation
Communications of the ACM
Multiprocessing compactifying garbage collection
Communications of the ACM
A nonrecursive list compacting algorithm
Communications of the ACM
Real-Time Systems
Joint scheduling of garbage collector and hard real-time tasks for embedded applications
Journal of Systems and Software
Time-triggered garbage collection: robust and adaptive real-time GC scheduling for embedded systems
Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool for embedded systems
Trading data space for reduced time and code space in real-time garbage collection on stock hardware
LFP '84 Proceedings of the 1984 ACM Symposium on LISP and functional programming
Timber: A Programming Language for Real-Time Embedded Systems
Timber: A Programming Language for Real-Time Embedded Systems
A real-time garbage collection framework for embedded systems
SCOPES '05 Proceedings of the 2005 workshop on Software and compilers for embedded systems
A correct and useful incremental copying garbage collector
Proceedings of the 6th international symposium on Memory management
Scheduling Hard Real-Time Garbage Collection
RTSS '09 Proceedings of the 2009 30th IEEE Real-Time Systems Symposium
Parametric inference of memory requirements for garbage collected languages
Proceedings of the 2010 international symposium on Memory management
Live heap space bounds for real-time systems
APLAS'10 Proceedings of the 8th Asian conference on Programming languages and systems
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The key to successful deployment of garbage collection in real-time systems is to enable provably safe schedulability tests of the real-time tasks. At the same time one must be able to determine the total heap usage of the system. Schedulability tests typically require a uniformed model of timing assumptions (inter-arrival times, deadlines, etc.). Incorporating the cost of garbage collection in such tests typically requires both artificial timing assumptions of the garbage collector and restricted capabilities of the task scheduler. In this paper, we pursue a different approach. We show how the reactive object model of the programming language Timber enables us to decouple the cost of concurrently running copying garbage collector from the schedulability of the real-time tasks. I.e., we enable any regular schedulability analysis without the need of incorporating the cost of an interfering garbage collector. We present the garbage collection demand analysis, which determines if the garbage collector can be feasibly scheduled in the system.