面向行星探索中多机器人网状网络的ROS2中间件性能比较
Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration
AI总结：
本文针对行星探索中多机器人网状网络场景，在真实动态拓扑环境下比较了FastRTPS、CycloneDDS和Zenoh三种ROS2中间件性能，发现Zenoh在延迟、可达性和CPU占用率方面表现最优，同时在数据开销和RAM使用上具有竞争力。
摘要：
多机器人系统（MRS）和网状网络技术的最新进展为探索极端环境开辟了创新途径。《阿尔忒弥斯协定》作为一系列国际协议，通过促进太空探索合作并强调尖端技术的使用，进一步推动了这一进展。与此同时，机器人操作系统2（ROS 2）在各行业公司中的广泛采用凸显了其稳健性与通用性。本文评估了可用的ROS 2中间件（RMW）——如FastRTPS、CycloneDDS和Zenoh——在具有动态拓扑的网状网络上的性能。RMW的最终选择取决于哪种方案最适合以下场景：使用多机器人系统探索极端地外环境。在真实环境中进行的研究表明，Zenoh是未来应用的潜在解决方案，它在动态网状拓扑上展现出更低的延迟、更好的可达性和更低的CPU占用率，同时在数据开销和RAM使用方面也具有竞争力。
英文摘要：
Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would fit the most the scenario: an exploration of the extreme extra-terrestrial environment using a MRS. The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology
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。
