{"id":"https://openalex.org/W4406550552","doi":"https://doi.org/10.1007/s10846-024-02211-2","title":"Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration","display_name":"Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration","publication_year":2025,"publication_date":"2025-01-18","ids":{"openalex":"https://openalex.org/W4406550552","doi":"https://doi.org/10.1007/s10846-024-02211-2"},"language":"en","primary_location":{"id":"doi:10.1007/s10846-024-02211-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02211-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02211-2.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"hybrid","oa_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02211-2.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5001568953","display_name":"Lo\u00efck Chovet","orcid":"https://orcid.org/0000-0003-4025-9095"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":true,"raw_author_name":"Lo\u00efck Pierre Chovet","raw_affiliation_strings":["SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0003-4025-9095","affiliations":[{"raw_affiliation_string":"SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108898592","display_name":"Gabriel Manuel Garcia","orcid":"https://orcid.org/0000-0002-2173-8747"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Gabriel Manuel Garcia","raw_affiliation_strings":["SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-2173-8747","affiliations":[{"raw_affiliation_string":"SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5085910004","display_name":"Abhishek Bera","orcid":"https://orcid.org/0000-0002-0196-5969"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Abhishek Bera","raw_affiliation_strings":["SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0002-0196-5969","affiliations":[{"raw_affiliation_string":"SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090913728","display_name":"Antoine Richard","orcid":"https://orcid.org/0000-0003-4018-699X"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Antoine Richard","raw_affiliation_strings":["SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0003-4018-699X","affiliations":[{"raw_affiliation_string":"SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023419492","display_name":"Kazuya Yoshida","orcid":"https://orcid.org/0000-0003-3889-5877"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kazuya Yoshida","raw_affiliation_strings":["Space Robotic Lab, Tohoku University, Aoba Ward, 980-8577, Sendai, Miyagi, Japan"],"raw_orcid":"https://orcid.org/0000-0003-3889-5877","affiliations":[{"raw_affiliation_string":"Space Robotic Lab, Tohoku University, Aoba Ward, 980-8577, Sendai, Miyagi, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085280731","display_name":"Miguel Olivares-Mendez","orcid":"https://orcid.org/0000-0001-8824-3231"},"institutions":[{"id":"https://openalex.org/I186903577","display_name":"University of Luxembourg","ror":"https://ror.org/036x5ad56","country_code":"LU","type":"education","lineage":["https://openalex.org/I186903577"]}],"countries":["LU"],"is_corresponding":false,"raw_author_name":"Miguel Angel Olivares-Mendez","raw_affiliation_strings":["SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg"],"raw_orcid":"https://orcid.org/0000-0001-8824-3231","affiliations":[{"raw_affiliation_string":"SnT-SpaceR, University of Luxembourg, rue Richard Coudenhove-Kalergi, L-1359, Luxembourg, Luxembourg","institution_ids":["https://openalex.org/I186903577"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5001568953"],"corresponding_institution_ids":["https://openalex.org/I186903577"],"apc_list":{"value":2390,"currency":"EUR","value_usd":2990},"apc_paid":{"value":2390,"currency":"EUR","value_usd":2990},"fwci":10.4734,"has_fulltext":true,"cited_by_count":11,"citation_normalized_percentile":{"value":0.98288749,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"111","issue":"1","first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13382","display_name":"Robotics and Automated Systems","score":0.9972000122070312,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.996999979019165,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9961000084877014,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5972966551780701},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5126456618309021},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.33352208137512207},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.27298349142074585}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5972966551780701},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5126456618309021},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.33352208137512207},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.27298349142074585}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1007/s10846-024-02211-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02211-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02211-2.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},{"id":"pmh:oai:orbilu.uni.lu:10993/64125","is_oa":true,"landing_page_url":"https://orbilu.uni.lu/handle/10993/64125","pdf_url":"https://orbilu.uni.lu/bitstream/10993/64125/1/_Cleared__Springer___Mesh_Network.pdf","source":{"id":"https://openalex.org/S4306401815","display_name":"Open Repository and Bibliography (University of Luxembourg)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I186903577","host_organization_name":"University of Luxembourg","host_organization_lineage":["https://openalex.org/I186903577"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Journal of Intelligent and Robotic Systems (2025)","raw_type":"peer reviewed"}],"best_oa_location":{"id":"doi:10.1007/s10846-024-02211-2","is_oa":true,"landing_page_url":"https://doi.org/10.1007/s10846-024-02211-2","pdf_url":"https://link.springer.com/content/pdf/10.1007/s10846-024-02211-2.pdf","source":{"id":"https://openalex.org/S91329792","display_name":"Journal of Intelligent & Robotic Systems","issn_l":"0921-0296","issn":["0921-0296","1573-0409"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319900","host_organization_name":"Springer Science+Business Media","host_organization_lineage":["https://openalex.org/P4310319900","https://openalex.org/P4310319965"],"host_organization_lineage_names":["Springer Science+Business Media","Springer Nature"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Journal of Intelligent &amp; Robotic Systems","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G2101351024","display_name":null,"funder_award_id":"14783405","funder_id":"https://openalex.org/F4320321038","funder_display_name":"Fonds National de la Recherche Luxembourg"},{"id":"https://openalex.org/G2588960202","display_name":null,"funder_award_id":"CC BY 4.0","funder_id":"https://openalex.org/F4320321038","funder_display_name":"Fonds National de la Recherche Luxembourg"},{"id":"https://openalex.org/G7395122752","display_name":null,"funder_award_id":"7679211","funder_id":"https://openalex.org/F4320321038","funder_display_name":"Fonds National de la Recherche Luxembourg"}],"funders":[{"id":"https://openalex.org/F4320321038","display_name":"Fonds National de la Recherche Luxembourg","ror":"https://ror.org/039z13y21"}],"has_content":{"grobid_xml":false,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4406550552.pdf"},"referenced_works_count":31,"referenced_works":["https://openalex.org/W1985869316","https://openalex.org/W2081871259","https://openalex.org/W2096657178","https://openalex.org/W2129928924","https://openalex.org/W2136520221","https://openalex.org/W2137714578","https://openalex.org/W2140929789","https://openalex.org/W2149797324","https://openalex.org/W2152165376","https://openalex.org/W2520183840","https://openalex.org/W2528390172","https://openalex.org/W2530771494","https://openalex.org/W2802709486","https://openalex.org/W2847534950","https://openalex.org/W2936516903","https://openalex.org/W3040904863","https://openalex.org/W3080577972","https://openalex.org/W3101819905","https://openalex.org/W3173470175","https://openalex.org/W3210074639","https://openalex.org/W4205868747","https://openalex.org/W4211185905","https://openalex.org/W4226117562","https://openalex.org/W4280571816","https://openalex.org/W4281479885","https://openalex.org/W4324097645","https://openalex.org/W4327811060","https://openalex.org/W4366826679","https://openalex.org/W4391766366","https://openalex.org/W4391766396","https://openalex.org/W4392944766"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Abstract":[0],"Recent":[1],"advancements":[2],"in":[3,37,123],"Multi-Robot":[4,117],"Systems":[5,118],"(MRS)":[6],"and":[7,65,82,143],"mesh":[8,86,156],"network":[9,87],"technologies":[10],"pave":[11],"the":[12,41,55,70,100,106,111,150],"way":[13],"for":[14,133],"innovative":[15],"approaches":[16],"to":[17],"explore":[18],"extreme":[19,112],"environments.":[20],"The":[21,92,120],"Artemis":[22],"Accords,":[23],"a":[24,85,89,116,124,130,137,154],"series":[25],"of":[26,43,54,72,95,110],"international":[27],"agreements,":[28],"have":[29],"further":[30],"catalyzed":[31],"this":[32],"progress":[33],"by":[34,99],"fostering":[35],"cooperation":[36],"space":[38],"exploration,":[39],"emphasizing":[40],"use":[42],"cutting-edge":[44],"technologies.":[45],"In":[46],"parallel,":[47],"companies":[48],"across":[49],"various":[50],"sectors\u2019":[51],"widespread":[52],"adoption":[53],"Robot":[56],"Operating":[57],"System":[58],"2":[59,75],"(ROS":[60],"2)":[61],"underscores":[62],"its":[63],"robustness":[64],"versatility.":[66],"This":[67],"paper":[68],"evaluates":[69],"performances":[71],"available":[73],"ROS":[74],"MiddleWare":[76],"(RMW),":[77],"such":[78],"as":[79,129],"FastRTPS,":[80],"CycloneDDS":[81],"Zenoh,":[83],"over":[84,153],"with":[88],"dynamic":[90,155],"topology.":[91,157],"final":[93],"choice":[94],"RMW":[96],"is":[97],"determined":[98],"one":[101],"that":[102],"would":[103],"most":[104],"fit":[105],"scenario:":[107],"an":[108],"exploration":[109],"extra-terrestrial":[113],"environment":[114,126],"using":[115],"(MRS).":[119],"conducted":[121],"study":[122],"real":[125],"highlights":[127],"Zenoh":[128],"potential":[131],"solution":[132],"future":[134],"applications,":[135],"showing":[136],"reduced":[138],"delay,":[139],"reachability,":[140],"data":[141],"overhead":[142],"CPU":[144],"usage":[145,152],"while":[146],"being":[147],"competitive":[148],"on":[149],"RAM":[151]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":1}],"updated_date":"2026-05-07T13:39:58.223016","created_date":"2025-10-10T00:00:00"}
