The RapiTime approach has its origins in academic research into worst-case execution time analysis. The forerunner to RapiTime was an academic prototype called pWCET. Some original publications from this research are listed below:

Identifying Opportunities for Worst-case Execution Time Reduction in an Avionics System

G. BERNAT, R.I. DAVIS, N. MERRIAM, J. TUFFEN, A. GARDNER, M. BENNETT, D. ARMSTRONG
Ada User Journal pp. 189-194, Volume 28, Number 3, Sept. 2007
Full paper.

Measurement-Based Worst-Case Execution Time Analysis using Automatic Test-Data Generation

R. KIRNER, P. PUSCHNER, I. WENZEL
In Proc. 4th Euromicro International Workshop on WCET
Full paper.

Hard Real-Time Programming is Different

P. PUSCHNER
Proceedings of 17th IEEE International Parallel and Distributed Processing Symposium, 11th International Workshop on Parallel and Distributed Real-Time Systems, April 2003, Nice, France
Full paper.

Comparison of Trace Generation Methods for Measurement Based WCET Analysis

S. M. PETTERS
Proceedings of the 3rd Int. Workshop on WCET Analysis, Satellite Workshop of the Euromicro conference on Real-Time Systems, Porto, Portugal, 1 July 2003
Full paper (in conference proceedings).

Software guided onto safe pathway: Cambridge and MIT pool for pervasiveness

IEE
IEE magazine, April 2004
Full article.

Scope Tree: a Program Representation for Symbolic WCET Analysis

A. COLIN, G. BERNAT
In Proc. 14th Euromicro International Conference on Real-Time Systems, June 2002, Vienna, Austria.
Full article.

Experimental Evaluation of Code Properties for WCET Analysis

A. COLIN, S. M. PETTERS
Proceedings of the 24th IEEE Real-Time Systems Symposium, Cancun, Mexico, December 2003

Full article.

Wishing for Compiler Support

G. BERNAT, N. HOLSTI
3rd Int. Workshop on WCET Analysis, Satellite Workshop of the Euromicro conference on Real-Time Systems, Porto, Portugal, 1 July 2003

pWCET a Toolset for automatic Worst-Case Execution Time Analysis of Real-Time Embedded Programs

G. BERNAT, A. COLIN, S. M. PETTERS
3rd Int. Workshop on WCET Analysis, Satellite Workshop of the Euromicro Conference on Real-Time Systems, Porto, Portugal, 1 July 2003
Full paper (in conference proceedings).

pWCET a Toolset for automatic Worst-Case Execution Time Analysis of Real-Time Embedded Programs

G. BERNAT, A. COLIN, S. M. PETTERS
Technical Report YCS-2003-354, Department of Computer Science, University of York, United Kingdom, January 2003
Full paper.

WCET Analysis of Probabilistic Hard Real-Time systems

G. BERNAT, A. COLIN, S. M. PETTERS
Real-Time Systems Symposium, December 2002, Austin, Texas, USA
Full paper.

Die Zeitlupe: Analyse der Worst Case Execution Time für Embedded-Systeme in Automobilanwendungen

G. BERNAT
Elektronic Praxis, September 2005
This article describes the RapiTime approach to timing analysis in automotive electronics.
Full article.

Probabilistic timing analysis: an approach using copulas

G BERNAT, M. J. NEWBY, A. BURNS
Journal of Embedded Computing, v1-2, pp 179–194, 2005
Link to ACM digital library.

This paper explains how copulas are used to solve the problem of determining the probability distribution of the worst-case execution time of a real-time program. Full article available on request.