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Pound: A multi-master ROS node for reducing delay and jitter in wireless multi-robot networks
University of Zaragoza.
University of Georgia.
KTH, School of Electrical Engineering and Computer Science (EECS), Robotics, perception and learning, RPL.ORCID iD: 0000-0002-7714-928X
2019 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 111, p. 73-87Article in journal (Refereed) Published
Abstract [en]

The Robot Operating System (ROS) is a popular and widely used software framework for building robotics systems. 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 regarding limited-bandwidth, delays, and jitter, when used in wireless multi-hop 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 by reducing delay and jitter in data exchanges, especially in multi-hop networks. Pound allows the use of multiple ROS masters (roscores), features data compression, and importantly, introduces a priority scheme that allows favoring more important flows over less important ones. We compare Pound to the state-of-the-art solutions through extensive experiments and show that it performs equally well, or better in all the test cases, including a control-over-network example.

Place, publisher, year, edition, pages
Elsevier, 2019. Vol. 111, p. 73-87
National Category
Robotics
Identifiers
URN: urn:nbn:se:kth:diva-237454DOI: 10.1016/j.robot.2018.10.009ISI: 000452936000006Scopus ID: 2-s2.0-85056277571OAI: oai:DiVA.org:kth-237454DiVA, id: diva2:1259235
Note

QC 20181210

Available from: 2018-10-29 Created: 2018-10-29 Last updated: 2019-05-20Bibliographically approved

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