{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2024,7,31]],"date-time":"2024-07-31T21:13:27Z","timestamp":1722460407106},"reference-count":13,"publisher":"MDPI AG","issue":"3","license":[{"start":{"date-parts":[[2023,6,15]],"date-time":"2023-06-15T00:00:00Z","timestamp":1686787200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"Robot Operating System 2 (ROS 2) is a robotic software that uses a set of Quality of Service (QoS) policies to manage the quality of robot data transmissions in a network, such as the RELIABLE and KEEP_LAST options. In ROS 2 node communication, the RELIABLE connection guarantees that all message data can be properly sent from the publisher to the subscriber. However, strict reliability is not guaranteed if the RELIABLE connection uses the KEEP_LAST option to transmit the robot data in the publish\u2013subscribe communication. This study aims to analyze the efficiency of local cache, cache control, and QoS balancing optimization to improve ROS 2 node communication when using the RELIABLE and KEEP_LAST options to transmit multi-robot data in Aggregated Robot Processing (ARP) architecture. Our idea in local cache and cache control is to streamline the sensor data output before processing it when the sensor device produces the data with the same value in a row. Furthermore, QoS balancing optimization aims to balance the DEPTH and DEADLINE QoS configuration to determine the rates and buffer size in ROS 2 node communication. This study shows that combining local cache and QoS balancing optimization improves multi-robot data transmission and cooperation in ARP architecture.<\/jats:p>","DOI":"10.3390\/robotics12030087","type":"journal-article","created":{"date-parts":[[2023,6,15]],"date-time":"2023-06-15T06:28:56Z","timestamp":1686810536000},"page":"87","source":"Crossref","is-referenced-by-count":3,"title":["Performance Improvement of Multi-Robot Data Transmission in Aggregated Robot Processing Architecture with Caches and QoS Balancing Optimization"],"prefix":"10.3390","volume":"12","author":[{"ORCID":"http:\/\/orcid.org\/0000-0003-1021-745X","authenticated-orcid":false,"given":"Abdul","family":"Jalil","sequence":"first","affiliation":[{"name":"Graduate School of Computer Science and System Engineering, Kyushu Institute of Technology, Iizuka 820-8502, Japan"}]},{"given":"Jun","family":"Kobayashi","sequence":"additional","affiliation":[{"name":"Graduate School of Computer Science and System Engineering, Kyushu Institute of Technology, Iizuka 820-8502, Japan"}]},{"ORCID":"http:\/\/orcid.org\/0000-0001-8844-9707","authenticated-orcid":false,"given":"Takeshi","family":"Saitoh","sequence":"additional","affiliation":[{"name":"Graduate School of Computer Science and System Engineering, Kyushu Institute of Technology, Iizuka 820-8502, Japan"}]}],"member":"1968","published-online":{"date-parts":[[2023,6,15]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","unstructured":"Maruyama, Y., Kato, S., and Azumi, T. (2016, January 2\u20137). Exploring the Performance of ROS2. Proceedings of the 2016 International Conference on Embedded Software (EMSOFT), Pittsburgh, PA, USA.","DOI":"10.1145\/2968478.2968502"},{"key":"ref_2","doi-asserted-by":"crossref","unstructured":"Fernandez, J., Allen, B., Thulasiraman, P., and Bingham, B. (September, January 24). Performance Study of the Robot Operating System 2 with QoS and Cyber Security Settings. Proceedings of the 2020 IEEE International Systems Conference (SysCon), Montreal, QC, Canada.","DOI":"10.1109\/SysCon47679.2020.9275872"},{"key":"ref_3","unstructured":"Chen, Z. (2019). Performance Analysis of ROS 2 Networks Using Variable Quality of Service and Security Constraints for Autonomous Systems. [Master\u2019s Thesis, Naval Postgraduate School]."},{"key":"ref_4","doi-asserted-by":"crossref","unstructured":"Jalil, A., and Kobayashi, J. (December, January 27). Efficacy of Local Cache for Performance Improvement of Reliable Data Transmission in Aggregated Robot Processing Architecture. Proceedings of the 2022 22nd International Conference on Control, Automation and Systems (ICCAS), Jeju, Republic of Korea.","DOI":"10.23919\/ICCAS55662.2022.10003765"},{"key":"ref_5","unstructured":"Jalil, A., Kobayashi, J., and Saitoh, T. (2023, January 9\u201312). Optimization Algorithm for Balancing QoS Configuration in Aggregated Robot Processing Architecture. Proceedings of the 2023 International Conference on Artificial Life and Robotics (ICAROB2023), Oita, Japan."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Choi, H., Xiang, Y., and Kim, H. (2021, January 18\u201321). PiCAS: New Design of Priority-Driven Chain-Aware Scheduling for ROS2. Proceedings of the 2021 IEEE 27th Real-Time and Embedded Technology and Applications Symposium (RTAS), Nashville, TN, USA.","DOI":"10.1109\/RTAS52030.2021.00028"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Wang, Y.P., Tan, W., Hu, X.Q., Manocha, D., and Hu, S.M. (2020). TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization. arXiv.","DOI":"10.1109\/IROS40897.2019.8968462"},{"key":"ref_8","unstructured":"Randolph, C. (2021). Improving the Predictability of Event Chains in ROS 2. [Master\u2019s Thesis, Delft University of Technology]."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"119","DOI":"10.1007\/s10766-019-00647-w","article-title":"Message Passing Optimization in Robot Operating System","volume":"48","author":"Jiang","year":"2020","journal-title":"Int. J. Parallel Program."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Jalil, A., and Kobayashi, J. (2020, January 13\u201316). Experimental Analyses of an Efficient Aggregated Robot Processing with Cache-Control for Multi-Robot System. Proceedings of the 2020 20th International Conference on Control, Automation and Systems (ICCAS), Busan, Republic of Korea.","DOI":"10.23919\/ICCAS50221.2020.9268225"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Staschulat, J., L\u00fctkebohle, I., and Lange, R. (2020, January 20\u201325). The rclc Executor: Domain-specific deterministic scheduling mechanisms for ROS applications on microcontrollers: Work-in-progress. Proceedings of the 2020 International Conference on Embedded Software (EMSOFT), Shanghai, China.","DOI":"10.1109\/EMSOFT51651.2020.9244014"},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1502242","DOI":"10.1080\/23311916.2018.1502242","article-title":"A review of multi-objective optimization: Methods and its applications","volume":"5","author":"Gunantara","year":"2018","journal-title":"Cogent Eng."},{"key":"ref_13","first-page":"2909","article-title":"CVXPY: A Python-Embedded Modeling Language for Convex Optimization","volume":"17","author":"Diamond","year":"2016","journal-title":"J. Mach. Learn. Res."}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/3\/87\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,6,15]],"date-time":"2023-06-15T08:46:51Z","timestamp":1686818811000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/12\/3\/87"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,6,15]]},"references-count":13,"journal-issue":{"issue":"3","published-online":{"date-parts":[[2023,6]]}},"alternative-id":["robotics12030087"],"URL":"https:\/\/doi.org\/10.3390\/robotics12030087","relation":{},"ISSN":["2218-6581"],"issn-type":[{"value":"2218-6581","type":"electronic"}],"subject":[],"published":{"date-parts":[[2023,6,15]]}}}