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Scheduling frames with offsets has been shown in the literature to be very beneficial for reducing response times in realtime networks because it allows the workload to be better spread over time and thus to reduce peaks of load. Maintaining a global synchronization amongst the stations induces substantial overhead and complexity in networks not providing a global time service such as CAN. Indeed, on CAN, no global clock is implemented in practice and each station possesses its own local clock.doi:10.1145/2997465.2997477 dblp:conf/rtns/DaigmorteB16 fatcat:kkmx65hehfb7fcwkbxvt2mszaa