Pound：一种用于减少无线多机器人网络延迟和抖动的ROS节点
Pound: A ROS node for Reducing Delay and Jitter in Wireless Multi-Robot Networks
摘要：
机器人操作系统（ROS）正迅速成为构建机器人系统的事实上的框架，这要归功于它的灵活性和在机器人社区中得到的广泛接受。随着它的普及，它也开始被用于多机器人系统。然而，该平台所依赖的用于连接所谓的ROS节点的TCP连接在用于无线ad-hoc网络时在有限带宽、延迟和抖动方面存在若干问题。在本文中，我们提出了一个深入的分析问题，并提出了一个新的ROS节点称为庞德，以提高无线通信性能。Pound允许使用多个ROS核心，并引入了一个优先级方案，支持更重要的流，而不是不太重要的流，从而减少了单跳和多跳网络的延迟和抖动。我们比较庞德的国家的最先进的解决方案，并表明，它表现得同样好，或更好地在所有的测试情况下，包括控制网络的例子。
英文摘要：
The Robot Operating System (ROS) is rapidly becoming the de facto framework for building robotics systems, thanks to its flexibility and the large acceptance that it has received in the robotics community. With the growth of its popularity, it has started to be used in multi-robot systems as well. However, the TCP connections that the platform relies on for connecting the so-called ROS nodes, presents several issues in terms of limited-bandwidth, delays and jitter, when used in wireless ad-hoc networks. In this paper, we present a thorough analysis of the problem and propose a new ROS node called Pound to improve the wireless communication performance. Pound allows the use of multiple ROS cores and introduces a priority scheme favoring more important flows over less important ones, thus reducing delay and jitter over single-hop and multihop networks. We compare Pound to the state-of-the-art solutions and show that it performs equally well, or better in all the test cases, including a control-over-network example.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
