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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, Skolan för elektroteknik och datavetenskap (EECS), Robotik, perception och lärande, RPL.ORCID-id: 0000-0002-7714-928X
2019 (Engelska)Ingår i: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 111, s. 73-87Artikel i tidskrift (Refereegranskat) 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.

Ort, förlag, år, upplaga, sidor
Elsevier, 2019. Vol. 111, s. 73-87
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
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
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QC 20181210

Tillgänglig från: 2018-10-29 Skapad: 2018-10-29 Senast uppdaterad: 2019-05-20Bibliografiskt granskad

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Ögren, Petter
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Robotik, perception och lärande, RPL
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Robotics and Autonomous Systems
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