Outline:

1. Recap
   • priority ceilings and priority inheritance
   • issues with the PIP
2. Priority Ceiling Protocol (PCP)
   • overview
   • blocking computation
   • properties of the PCP
3. Summary: NPP vs. HLP vs. PIP vs. PCP

Reading assignment (to be completed by the next class):

What you should understand after today:

• PCP: Buttazzo sec. 7.7 (pp. 207–213)

Paper to read for Friday:

• “SEAM: An Optimal Message Synchronizer in ROS with Well-Bounded Time Disparity” (Sun et al.)