{"id":"https://openalex.org/W2894174994","doi":"https://doi.org/10.1109/iros40897.2019.8968462","title":"TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization","display_name":"TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization","publication_year":2019,"publication_date":"2019-11-01","ids":{"openalex":"https://openalex.org/W2894174994","doi":"https://doi.org/10.1109/iros40897.2019.8968462","mag":"2894174994"},"language":"en","primary_location":{"id":"doi:10.1109/iros40897.2019.8968462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/1810.00556","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":null,"display_name":"Yu-Ping Wang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yu-Ping Wang","raw_affiliation_strings":["Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Wende Tan","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Wende Tan","raw_affiliation_strings":["Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Xu-Qiang Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xu-Qiang Hu","raw_affiliation_strings":["Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Dinesh Manocha","orcid":null},"institutions":[{"id":"https://openalex.org/I66946132","display_name":"University of Maryland, College Park","ror":"https://ror.org/047s2c258","country_code":"US","type":"education","lineage":["https://openalex.org/I66946132"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dinesh Manocha","raw_affiliation_strings":["University of Maryland,Department of Computer Science and Electrical &#x0026; Computer Engineering,USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Maryland,Department of Computer Science and Electrical &#x0026; Computer Engineering,USA","institution_ids":["https://openalex.org/I66946132"]}]},{"author_position":"last","author":{"id":null,"display_name":"Shi-Min Hu","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Shi-Min Hu","raw_affiliation_strings":["Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tsinghua University, and the Key Laboratory of Pervasive Computing,BNRist Ministry of Education,Beijing,China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.9414,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.8555075,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"7805","last_page":"7812"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10933","display_name":"Real-Time Systems Scheduling","score":0.9958999752998352,"subfield":{"id":"https://openalex.org/subfields/1708","display_name":"Hardware and Architecture"},"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/T13382","display_name":"Robotics and Automated Systems","score":0.9954000115394592,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9952999949455261,"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/serialization","display_name":"Serialization","score":0.7462999820709229},{"id":"https://openalex.org/keywords/overhead","display_name":"Overhead (engineering)","score":0.7440999746322632},{"id":"https://openalex.org/keywords/core","display_name":"Core (optical fiber)","score":0.4271000027656555},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.41130000352859497},{"id":"https://openalex.org/keywords/middleware","display_name":"Middleware (distributed applications)","score":0.36399999260902405},{"id":"https://openalex.org/keywords/component","display_name":"Component (thermodynamics)","score":0.33469998836517334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3312999904155731}],"concepts":[{"id":"https://openalex.org/C52723943","wikidata":"https://www.wikidata.org/wiki/Q1127410","display_name":"Serialization","level":2,"score":0.7462999820709229},{"id":"https://openalex.org/C2779960059","wikidata":"https://www.wikidata.org/wiki/Q7113681","display_name":"Overhead (engineering)","level":2,"score":0.7440999746322632},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6492000222206116},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.44040000438690186},{"id":"https://openalex.org/C2164484","wikidata":"https://www.wikidata.org/wiki/Q5170150","display_name":"Core (optical fiber)","level":2,"score":0.4271000027656555},{"id":"https://openalex.org/C149635348","wikidata":"https://www.wikidata.org/wiki/Q193040","display_name":"Embedded system","level":1,"score":0.4115999937057495},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.41130000352859497},{"id":"https://openalex.org/C169468491","wikidata":"https://www.wikidata.org/wiki/Q146923","display_name":"Middleware (distributed applications)","level":2,"score":0.36399999260902405},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.3578000068664551},{"id":"https://openalex.org/C168167062","wikidata":"https://www.wikidata.org/wiki/Q1117970","display_name":"Component (thermodynamics)","level":2,"score":0.33469998836517334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3312999904155731},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.32919999957084656},{"id":"https://openalex.org/C2778562939","wikidata":"https://www.wikidata.org/wiki/Q1298791","display_name":"Synchronization (alternating current)","level":3,"score":0.3158999979496002},{"id":"https://openalex.org/C204854418","wikidata":"https://www.wikidata.org/wiki/Q1362921","display_name":"Polling","level":2,"score":0.3154999911785126},{"id":"https://openalex.org/C12269588","wikidata":"https://www.wikidata.org/wiki/Q132364","display_name":"Communications protocol","level":2,"score":0.28679999709129333},{"id":"https://openalex.org/C2777027219","wikidata":"https://www.wikidata.org/wiki/Q1284190","display_name":"Constant (computer programming)","level":2,"score":0.27570000290870667},{"id":"https://openalex.org/C2779853468","wikidata":"https://www.wikidata.org/wiki/Q7662139","display_name":"Synchronism","level":3,"score":0.2653000056743622},{"id":"https://openalex.org/C173018170","wikidata":"https://www.wikidata.org/wiki/Q165678","display_name":"Microcontroller","level":2,"score":0.2542000114917755}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros40897.2019.8968462","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros40897.2019.8968462","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:arXiv.org:1810.00556","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.00556","pdf_url":"https://arxiv.org/pdf/1810.00556","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:1810.00556","is_oa":true,"landing_page_url":"http://arxiv.org/abs/1810.00556","pdf_url":"https://arxiv.org/pdf/1810.00556","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":26,"referenced_works":["https://openalex.org/W629357697","https://openalex.org/W1502177631","https://openalex.org/W1922832738","https://openalex.org/W1992338761","https://openalex.org/W2005771043","https://openalex.org/W2017915001","https://openalex.org/W2027653328","https://openalex.org/W2074070730","https://openalex.org/W2135032959","https://openalex.org/W2158955701","https://openalex.org/W2169505235","https://openalex.org/W2210072957","https://openalex.org/W2294413624","https://openalex.org/W2414020700","https://openalex.org/W2530771494","https://openalex.org/W2582148258","https://openalex.org/W2625907317","https://openalex.org/W2739420249","https://openalex.org/W2967079395","https://openalex.org/W3015544158","https://openalex.org/W3015705626","https://openalex.org/W3015913564","https://openalex.org/W4246367117","https://openalex.org/W6672900850","https://openalex.org/W6680569907","https://openalex.org/W6756486208"],"related_works":[],"abstract_inverted_index":{"Inter-process":[0],"communication":[1],"(IPC)":[2],"is":[3,54,71,119],"one":[4,52],"of":[5,9,27,104,125,135,140,144,151,156,168],"the":[6,60,102,109,116,123,133,149,166,188],"core":[7,25],"functions":[8],"modern":[10],"robotics":[11],"middleware.":[12],"We":[13,79,163,182],"propose":[14],"an":[15],"efficient":[16],"IPC":[17,105,137,153],"technique":[18],"called":[19,34],"TZC":[20,82,90,130,169],"(Towards":[21],"Zero-Copy).":[22],"As":[23],"a":[24,31,57,126],"component":[26],"TZC,":[28,101,187],"we":[29],"design":[30],"novel":[32],"algorithm":[33],"partial":[35],"serialization.":[36],"Our":[37],"formulation":[38],"can":[39,43,91,131,147,191],"generate":[40],"messages":[41],"that":[42,89,184],"be":[44,92,176,192],"divided":[45],"into":[46],"two":[47],"parts.":[48],"During":[49],"message":[50,110,117],"transmission,":[51],"part":[53,62,67],"transmitted":[55],"through":[56],"socket":[58],"and":[59,85,87,146],"other":[61],"uses":[63],"shared":[64,69],"memory.":[65],"The":[66],"within":[68],"memory":[70],"never":[72],"copied":[73],"or":[74],"serialized":[75],"during":[76],"its":[77],"lifetime.":[78],"have":[80],"integrated":[81],"with":[83,95,173,196],"ROS":[84,136],"ROS2":[86,152],"find":[88],"easily":[93],"combined":[94],"current":[96],"open-source":[97],"platforms.":[98],"By":[99],"using":[100,186],"overhead":[103,134,150],"remains":[106],"constant":[107],"when":[108,115],"size":[111,118,124],"grows.":[112],"In":[113],"particular,":[114],"4MB":[120],"(less":[121],"than":[122,160,195],"full":[127],"HD":[128],"image),":[129],"reduce":[132,148],"from":[138,154],"tens":[139],"milliseconds":[141,157],"to":[142,158,175],"hundreds":[143,155],"microseconds":[145],"less":[159],"1":[161],"millisecond.":[162],"also":[164],"demonstrate":[165],"benefits":[167],"by":[170,185],"integrating":[171],"it":[172],"TurtleBot2":[174],"used":[177],"in":[178],"autonomous":[179],"driving":[180],"scenarios.":[181],"show":[183],"braking":[189],"distance":[190],"16%":[193],"shorter":[194],"ROS.":[197]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":4},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":5},{"year":2020,"cited_by_count":1}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2018-10-05T00:00:00"}
