diff --git a/CHANGELOG.md b/CHANGELOG.md
index baddb03..d672cc2 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -4,6 +4,18 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](http://keepachangelog.com/).
 
 ## Unreleased
+## 0.10.2 - 2024-03-11
+### Added
+- `time`:
+    - Keyword-only argument to `@duration` to report summary only every `interval`.
+    - A warning is generated when the argument is not used.
+    - `interval` can be set to `None` in order to disable automatic statistics.
+    - Argument `filename` that stores every measurement into the file.
+
+### Changed
+- `time`:
+    - Timer summary now also contains minimum value.
+
 ## 0.10.1 - 2024-03-07
 ### Fixed
 - `duration`:
diff --git a/README.md b/README.md
index 17b078c..10fc78f 100644
--- a/README.md
+++ b/README.md
@@ -509,3 +509,9 @@ TM.end()
 TM.summary()
 return output
 ```
+
+However, in contrast to TimeMeasurer, a keyword-only argument `interval`
+can be passed to the decorator to report the summary periodically, and not
+on every function call.
+
+Since `>0.10.1` not passing `interval` generates a warning on start-up.
diff --git a/autopsy/time.py b/autopsy/time.py
index aab9c06..b1b0bcb 100644
--- a/autopsy/time.py
+++ b/autopsy/time.py
@@ -50,6 +50,12 @@ def function():
     TM.end()
     TM.summary()
     return output
+
+However, in contrast to TimeMeasurer, a keyword-only argument 'interval'
+can be passed to the decorator to report the summary periodically, and not
+on every function call.
+
+Since >0.10.1 not passing 'interval' generates a warning on start-up.
 """
 ######################
 # Imports & Globals
@@ -58,6 +64,9 @@ def function():
 # Py2: Allow import of module with the same name
 from __future__ import absolute_import
 
+# ReportTimer
+from threading import _Timer
+
 # Timing
 import time
 
@@ -87,6 +96,23 @@ def let_pass(f):
     return block if DISABLED else let_pass
 
 
+######################
+# ReportTimer class
+######################
+
+class ReportTimer(_Timer):
+    """A thread for reporting the measurer.
+
+    Source:
+    https://stackoverflow.com/questions/12435211/threading-timer-repeat-function-every-n-seconds
+    """
+
+    def run(self):
+        """Run a thread function every 'self.interval'."""
+        while not self.finished.wait(self.interval):
+            self.function(*self.args, **self.kwargs)
+
+
 ######################
 # Measurer class
 ######################
@@ -96,7 +122,7 @@ class Measurer(object):
 
     UNITS = ["", "s", "ms", "us", "ns"]
 
-    def __init__(self, name = "", unit = ""):
+    def __init__(self, name = "", unit = "", filename = "", **kwargs):
         """Initialize the Measurer class.
 
         Arguments
@@ -105,11 +131,16 @@ def __init__(self, name = "", unit = ""):
             name of the Measurer
         unit: str = ""
             units used by the measurer
+        filename: str = ""
+            name of the file to log measured data
 
         Raises
         ------
         ValueError
             when unit is not in UNITS
+
+        IOError
+            raised by 'open()'
         """
         if unit not in self.UNITS:
             raise ValueError("unknown unit '%s'" % unit)
@@ -119,8 +150,10 @@ def __init__(self, name = "", unit = ""):
         self._start = 0
         self._count = 0
         self._sum = 0
+        self._min = []  # min([], X) returns the number everytime
         self._max = 0
         self._last = 0
+        self._file = open(filename, "a") if filename != "" else None
 
 
     def unitExp(self, unit):
@@ -191,8 +224,12 @@ def updateStatistics(self):
         """Update internal statistics of the Measurer."""
         self._count += 1
         self._sum += self._last
+        self._min = min(self._min, self._last)
         self._max = max(self._max, self._last)
 
+        if self._file is not None:
+            self._file.write("%f\n" % self._last)
+
 
     @conddisable()
     def summary(self):
@@ -200,8 +237,9 @@ def summary(self):
         if self._count == 0:
             print("%s: EMPTY" % self._name)
         else:
-            print("%s: cur=%.4f%s avg=%.4f%s max=%.4f%s" % (
+            print("%s: cur=%.4f%s min=%.4f%s avg=%.4f%s max=%.4f%s" % (
                   self._name, self._last, self._unit,
+                  self._min, self._unit,
                   self._sum / self._count, self._unit,
                   self._max, self._unit
                   ))
@@ -271,6 +309,19 @@ def duration(*args, **kwargs):
 
     TM = TimeMeasurer(*args, **kwargs)
 
+    if "interval" in kwargs:
+        if kwargs.get("interval") is not None:
+            report = ReportTimer(kwargs.get("interval"), TM.summary)
+            report.daemon = True
+            report.start()
+    elif "filename" in kwargs:
+        kwargs["interval"] = None
+    else:
+        print (
+            "Warning: @duration is used without kwarg 'interval', "
+            "therefore it will report summary on every call."
+        )
+
     def wrapper(function, *args, **kwags):
         def duration_measurer(*args, **kwargs):
             TM.start()
@@ -281,7 +332,18 @@ def duration_measurer(*args, **kwargs):
             return output
         return duration_measurer
 
+    def wrapper_with_timer(function, *args, **kwags):
+        def duration_measurer(*args, **kwargs):
+            TM.start()
+            output = function(*args, **kwargs)
+            TM.end()
+
+            return output
+        return duration_measurer
+
     def let_pass(function, *args, **kwargs):
         return lambda *x, **y: function(*x, **y)
 
-    return let_pass if DISABLED else wrapper
+    return let_pass if DISABLED else (
+        wrapper if "interval" not in kwargs else wrapper_with_timer
+    )
diff --git a/package.xml b/package.xml
index 13807ac..73af3b9 100644
--- a/package.xml
+++ b/package.xml
@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>autopsy</name>
-  <version>0.10.1</version>
+  <version>0.10.2</version>
   <description>A set of Python utils for F1Tenth project.</description>
 
   <maintainer email="klapajar@fel.cvut.cz">Jaroslav Klapálek</maintainer>