  Time-Sensitive Networking (TSN) has been recognized as one of the key
enabling technologies for Industry 4.0 and has been deployed in many mission-
and safety-critical applications e.g., automotive and aerospace systems. Given
the stringent real-time requirements of these applications, the Time-Aware
Shaper (TAS) draws special attention among TSN's many traffic shapers due to
its ability to achieve deterministic timing guarantees. Many scheduling methods
for TAS shapers have been recently developed that claim to improve system
schedulability. However, these scheduling methods have yet to be thoroughly
evaluated, especially through experimental comparisons, to provide a
systematical understanding of their performance using different evaluation
metrics in diverse application scenarios. In this paper, we fill this gap by
presenting a systematic review and experimental study on existing TAS-based
scheduling methods for TSN. We first categorize the system models employed in
these works along with the specific problems they aim to solve, and outline the
fundamental considerations in the designs of TAS-based scheduling methods. We
then perform an extensive evaluation on 17 representative solutions using both
high-fidelity simulations and a real-life TSN testbed, and compare their
performance under both synthetic scenarios and real-life industrial use cases.
Through these experimental studies, we identify the limitations of individual
scheduling methods and highlight several important findings. We expect this
work will provide foundational knowledge and performance benchmarks needed for
future studies on real-time TSN scheduling.
