Pith Number

pith:3VWLVCW5

pith:2026:3VWLVCW5BF7KK37SAWA36DZL43

not attested not anchored not stored refs pending

Scheduling Analysis of UAV Flight Control Workloads on PREEMPT_RT Linux Using a Raspberry Pi 5

Baran \c{C}\"ur\"ukl\"u, H{\aa}kan Forsberg, Ivan Tomasic, Luiz Giacomossi, Tommaso Cucinotta

PREEMPT_RT Linux reduces worst-case latency for 250 Hz UAV control from over 9 ms to under 225 microseconds on Raspberry Pi 5.

arxiv:2604.19275 v2 · 2026-04-21 · eess.SY · cs.OS · cs.RO · cs.SY

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\usepackage{pith}
\pithnumber{3VWLVCW5BF7KK37SAWA36DZL43}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Claims

C1strongest claim

PREEMPT RT reduced the worst-case latency by nearly 88 percent to under 225 microseconds, enforcing a direct wake-up path that mitigates OS noise. These findings demonstrate that while PREEMPT RT resolves scheduling variance, the residual jitter on modern SoCs is primarily driven by hardware memory contention.

C2weakest assumption

That the chosen heavy stress workloads and latency measurement approach on the Raspberry Pi 5 accurately represent real UAV flight control conditions and isolate the claimed causes without unaccounted hardware or software confounders.

C3one line summary

PREEMPT_RT on Raspberry Pi 5 reduces worst-case 250 Hz UAV control loop latency from over 9 ms to under 225 μs under stress, leaving hardware memory contention as the main residual jitter source.

Receipt and verification

First computed	2026-06-03T01:05:13.978676Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

dd6cba8add097ea56ff20581bf0f2be6eeb38296696fb3e1b5ae075454b8ed1a

Aliases

arxiv: 2604.19275 · arxiv_version: 2604.19275v2 · doi: 10.48550/arxiv.2604.19275 · pith_short_12: 3VWLVCW5BF7K · pith_short_16: 3VWLVCW5BF7KK37S · pith_short_8: 3VWLVCW5

Agent API

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Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/3VWLVCW5BF7KK37SAWA36DZL43 \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: dd6cba8add097ea56ff20581bf0f2be6eeb38296696fb3e1b5ae075454b8ed1a

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "7d07c122c5141015d625f0e914dd1580383b4cbd336c650f73bbf2e6de91ceb7",
    "cross_cats_sorted": [
      "cs.OS",
      "cs.RO",
      "cs.SY"
    ],
    "license": "http://creativecommons.org/licenses/by/4.0/",
    "primary_cat": "eess.SY",
    "submitted_at": "2026-04-21T09:46:41Z",
    "title_canon_sha256": "ccc24ea699312b4d12dbfc34159843604253875b5a28c792017ab3caef1252ae"
  },
  "schema_version": "1.0",
  "source": {
    "id": "2604.19275",
    "kind": "arxiv",
    "version": 2
  }
}