Performance Improvement of Multi-Robot Data Transmission in Aggregated Robot Processing Architecture with Caches and QoS Balancing Optimization
Abstract
:1. Introduction
2. Materials and Methods
2.1. Aggregated Robot Processing
2.2. Local Cache
2.3. Cache Control
2.4. QoS Balancing Optimization
3. Results
3.1. Experimental Result in Actual Machine
3.2. Experimental Result in Simulation
4. Discussion and Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Nomenclature
ROS 2 | Robot Operating System 2 |
QoS | Quality of Service |
ARP | Aggregated Robot Processing |
RELIABLE | RELIABILITY option to guarantee of sending data sample without fault |
MRS | Multi-Robot Systems |
KEEP_LAST | The buffer size to store the data samples configured in DEPTH |
DEPTH | QoS policy to determine the buffer size in KEEP_LAST option |
DEADLINE | The rates of data transmission between publisher and subscriber |
DDS | Data Distribution Service |
CEDDP | Computer Environment Dedicated to Data Processing |
ACKNACK | Acknowledgment |
HB | Heartbeat |
CVXPY | Python-embedded modeling language for convex optimization problems |
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Sensor Devices | Sensor Types | Message Types | Data Size (Bytes) |
---|---|---|---|
LIDAR | SLAMTEC, A2M8 | Float | 24 |
Flame | AYNEF, flame module | Boolean | 28 |
DHT11 | HiLetgo, DHT11 | Float | 24 |
IMU | KKHMF, MPU-6050 | Float | 24 |
Ultrasonic | ELEGOO, HC-SR04 | Float | 24 |
PIR | VKLSVAN, HC-SR501 | String | 59 |
Light | VKLSVAN, photosensitive | String | 54 |
QoS Policies | Options |
---|---|
RELIABILITY | RELIABLE |
HISTORY | KEEP_LAST |
DEPTH | 1, 5, 10, 100, 1000, 5000, Opt (D) |
DEADLINE | 100 Hz, 200 Hz, 500 Hz, 1000 Hz, Opt (R) |
DURABILITY | VOLATILE |
LIVELINESS | AUTOMATIC |
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Jalil, A.; Kobayashi, J.; Saitoh, T. Performance Improvement of Multi-Robot Data Transmission in Aggregated Robot Processing Architecture with Caches and QoS Balancing Optimization. Robotics 2023, 12, 87. https://doi.org/10.3390/robotics12030087
Jalil A, Kobayashi J, Saitoh T. Performance Improvement of Multi-Robot Data Transmission in Aggregated Robot Processing Architecture with Caches and QoS Balancing Optimization. Robotics. 2023; 12(3):87. https://doi.org/10.3390/robotics12030087
Chicago/Turabian StyleJalil, Abdul, Jun Kobayashi, and Takeshi Saitoh. 2023. "Performance Improvement of Multi-Robot Data Transmission in Aggregated Robot Processing Architecture with Caches and QoS Balancing Optimization" Robotics 12, no. 3: 87. https://doi.org/10.3390/robotics12030087