%T Improving the Performance of Periodic Real\-time Processes: a Graph Theoretical Approach
%A  Antoon H. Boode,  Hajo Broersma,  Jan F. Broenink
%E Peter H. Welch,  Frederick R. M. Barnes,  Jan F. Broenink,  Kevin Chalmers,  Jan Bækgaard Pedersen,  Adam T. Sampson
%B Communicating Process Architectures 2013
%X In this paper the performance gain obtained by combining
   parallel
periodic real\-time processes is elaborated.  In
   certain single\-core
mono\-processor configurations, for
   example embedded control systems in
robotics comprising many
   short processes, process context switches may
consume a
   considerable amount of the available processing power. 
   For
this reason it can be advantageous to combine processes,
   to reduce the
number of context switches and thereby
   increase the performance of the
application.  As we consider
   robotic applications only, often
consisting of processes
   with identical periods, release times and
deadlines, we
   restrict these configurations to periodic
   real\-time
processes executing on a single\-core
   mono\-processor.  By graph
theoretical concepts and means,
   we provide necessary and sufficient
conditions so that the
   number of context switches can be reduced by
combining
   synchronising processes.