Search Results (5)

As robotic systems evolve toward large-scale distributed architectures and cloud-edge collaboration, communication middleware has become a critical infrastructure that impacts system real-time performance and scalability. The traditional Robot Operating System 1 (ROS 1) communication architecture, which relies on a centralized master node, has limitations in dynamic network environments. Robot Operating System 2 (ROS 2) achieves decentralized communication through the introduction of DDS. However, the single Data Distribution Service (DDS) mechanism remains inadequate for cross-network communication and high-performance local data exchange. Addressing the current issue in ROS communication research: the coexistence of multiple mechanisms without a unified analytical framework or guidance for selection. This paper systematically traces the evolution of the ROS communication architecture from centralized to distributed systems. It constructs a unified analytical framework covering two dimensions: communication models and data transmission paths. Crucially, to overcome the unreliability of cross-protocol comparisons based on heterogeneous literature, this paper designs and executes a set of unified benchmark experiments on a controlled testbed. These experiments systematically evaluate the performance of two mainstream DDS implementations (CycloneDDS and FastDDS) across five key metrics: latency, throughput, jitter, scalability, and packet loss rate under load. Additionally, a comprehensive comparative analysis of the performance of three transmission modes is conducted. Based on this comprehensive evaluation, this paper summarizes the performance characteristics of different mechanisms and further proposes an optimization-based middleware selection method for quantitative communication mechanism selection under different workload and application requirements. This paper provides a systematic reference for the design and optimization of ROS communication systems and offers guidance for promoting the application of multi-middleware collaborative architectures in robotic systems. Full article

This paper presents an open-source ROS 2 navigation and sensor platform for quadruped robots, demonstrated on Boston Dynamics Spot in a laboratory environment. The platform integrates SLAM Toolbox for mapping and localisation, Navigation2 with MPPI and Smac Hybrid-A* for global path planning, and a frontier-based autonomous exploration module with practical handling of unreachable frontiers. The paper validates and verifies current, open-source algorithms deployed on off-the-shelf hardware. A greedy wavefront-based frontier selection method is presented that prioritizes Time-to-Closest-Viable-Frontier (TCVF) by terminating the search as soon as a feasible frontier is identified. On a real robot dataset replayed across five goal scenarios, the method reduces median selection latency from $94.31$ ms to $51.08$ ms (95th percentile: $109.54$ ms to $56.99$ ms), corresponding to a $1.85$-times improvement in compute time compared to a standard implementation. The system also employs Zenoh middleware and Foxglove for remote monitoring and control, enabling flexible, high-bandwidth operation. The platform, including configuration files and launch scripts, is released openly to support future research and deployment on quadruped robots. Full article

The increasing demand for distributed machine learning like Federated Learning (FL) in dynamic, resource-constrained edge environments, 5G/6G networks, and the proliferation of mobile and edge devices, presents significant challenges related to fault tolerance, elasticity, and communication efficiency. This paper addresses these issues by proposing a novel modular and resilient FL framework. In this context, resilience refers to the system’s ability to maintain operation and performance despite disruptions. The framework is built on decoupled modules handling core FL functionalities, allowing flexibility in integrating various algorithms, communication protocols, and resilience strategies. Results demonstrate the framework’s ability to integrate different communication protocols and FL paradigms, showing that protocol choice significantly impacts performance, particularly in high-volume communication scenarios, with Zenoh and MQTT exhibiting lower overhead than Kafka in tested configurations, and Zenoh emerging as the most efficient communication option. Additionally, the framework successfully maintained model training and achieved convergence even when simulating probabilistic worker failures, achieving a MCC of 0.9453. Full article

The rise of the Internet of Things (IoT) has led to an exponential increase in data generated by connected devices. Machine Learning (ML) has emerged as a powerful tool to analyze these data and enable intelligent IoT applications. However, developing and managing ML applications in the decentralized Cloud-to-Things continuum is extremely complex. This paper proposes Zenoh-Flow, a dataflow programming framework that supports the implementation of End-to-End (E2E) ML pipelines in a fully decentralized manner and abstracted from communication aspects. Thus, it simplifies the development and upgrade process of the next-generation ML-powered applications in the IoT domain. The proposed framework was demonstrated using a real-world use case, and the results showcased a significant improvement in overall performance and network usage compared to the original implementation. Additionally, other of its inherent benefits are a significant step towards developing efficient and scalable ML applications in the decentralized IoT ecosystem. Full article

The continuous evolution of IT (information technology) technologies is radically transforming many technical areas and social aspects, also reshaping the way we behave and looking for entertainment and leisure services. In that context, tourism experiences request to enhance the level of user involvement and integration and to create an ever more personalized and connected experience, by leveraging on the differentiated tourist services and information locally present in the territory, by pushing active participation of customers, and by taking advantage of the ever-increasing presence of sensors and IoT (Internet of Things) devices deployed in many realities. However, the deep fragmentation of services and technologies adopted in tourism context characterizes the whole information provided also by customer sensing and IoTs (Internet of Things) heterogeneity and deep clashes with an effective organization of smart tourism. This article presents APERTO5.0 (an Architecture for Personalization and Elaboration of services and data to Reshape Tourism Offers 5.0), an innovative architecture aiming at a whole integration and deep facilitation of tourism service and information organization and blending, to enable the re-provisioning of novel services as advanced aggregates or re-elaborated ones. The proposed solution will demonstrate its effectiveness in the context of Smart Tourism by choosing the real use case of the “Francigena way” (a pilgrim historical path), the Italian part. Full article