Message Passing Optimization in Robot Operating System
Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of...
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| Autor*in: |
Jiang, Ziyue [verfasserIn] |
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| Format: |
Artikel |
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| Sprache: |
Englisch |
| Erschienen: |
2019 |
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| Schlagwörter: |
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| Anmerkung: |
© Springer Science+Business Media, LLC, part of Springer Nature 2019 |
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| Übergeordnetes Werk: |
Enthalten in: International journal of parallel programming - Springer US, 1986, 48(2019), 1 vom: 16. Nov., Seite 119-136 |
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| Übergeordnetes Werk: |
volume:48 ; year:2019 ; number:1 ; day:16 ; month:11 ; pages:119-136 |
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| DOI / URN: |
10.1007/s10766-019-00647-w |
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OLC2044608537 |
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| 520 | |a Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system. | ||
| 650 | 4 | |a Robot operating system | |
| 650 | 4 | |a Message passing | |
| 650 | 4 | |a Communication performance | |
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| 700 | 1 | |a Zhai, Jidong |4 aut | |
| 700 | 1 | |a Wang, Yu-Ping |4 aut | |
| 700 | 1 | |a Liu, Wei |4 aut | |
| 700 | 1 | |a Wu, Hao |4 aut | |
| 700 | 1 | |a Jin, Jiangming |4 aut | |
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10.1007/s10766-019-00647-w doi (DE-627)OLC2044608537 (DE-He213)s10766-019-00647-w-p DE-627 ger DE-627 rakwb eng 070 004 VZ Jiang, Ziyue verfasserin aut Message Passing Optimization in Robot Operating System 2019 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC, part of Springer Nature 2019 Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system. Robot operating system Message passing Communication performance Gong, Yifan aut Zhai, Jidong aut Wang, Yu-Ping aut Liu, Wei aut Wu, Hao aut Jin, Jiangming aut Enthalten in International journal of parallel programming Springer US, 1986 48(2019), 1 vom: 16. Nov., Seite 119-136 (DE-627)129622028 (DE-600)246656-9 (DE-576)015131793 0885-7458 nnns volume:48 year:2019 number:1 day:16 month:11 pages:119-136 https://doi.org/10.1007/s10766-019-00647-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT SSG-OPC-BBI GBV_ILN_70 GBV_ILN_4318 AR 48 2019 1 16 11 119-136 |
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10.1007/s10766-019-00647-w doi (DE-627)OLC2044608537 (DE-He213)s10766-019-00647-w-p DE-627 ger DE-627 rakwb eng 070 004 VZ Jiang, Ziyue verfasserin aut Message Passing Optimization in Robot Operating System 2019 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC, part of Springer Nature 2019 Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system. Robot operating system Message passing Communication performance Gong, Yifan aut Zhai, Jidong aut Wang, Yu-Ping aut Liu, Wei aut Wu, Hao aut Jin, Jiangming aut Enthalten in International journal of parallel programming Springer US, 1986 48(2019), 1 vom: 16. Nov., Seite 119-136 (DE-627)129622028 (DE-600)246656-9 (DE-576)015131793 0885-7458 nnns volume:48 year:2019 number:1 day:16 month:11 pages:119-136 https://doi.org/10.1007/s10766-019-00647-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT SSG-OPC-BBI GBV_ILN_70 GBV_ILN_4318 AR 48 2019 1 16 11 119-136 |
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10.1007/s10766-019-00647-w doi (DE-627)OLC2044608537 (DE-He213)s10766-019-00647-w-p DE-627 ger DE-627 rakwb eng 070 004 VZ Jiang, Ziyue verfasserin aut Message Passing Optimization in Robot Operating System 2019 Text txt rdacontent ohne Hilfsmittel zu benutzen n rdamedia Band nc rdacarrier © Springer Science+Business Media, LLC, part of Springer Nature 2019 Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system. Robot operating system Message passing Communication performance Gong, Yifan aut Zhai, Jidong aut Wang, Yu-Ping aut Liu, Wei aut Wu, Hao aut Jin, Jiangming aut Enthalten in International journal of parallel programming Springer US, 1986 48(2019), 1 vom: 16. Nov., Seite 119-136 (DE-627)129622028 (DE-600)246656-9 (DE-576)015131793 0885-7458 nnns volume:48 year:2019 number:1 day:16 month:11 pages:119-136 https://doi.org/10.1007/s10766-019-00647-w lizenzpflichtig Volltext GBV_USEFLAG_A SYSFLAG_A GBV_OLC SSG-OLC-MAT SSG-OPC-BBI GBV_ILN_70 GBV_ILN_4318 AR 48 2019 1 16 11 119-136 |
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Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system. © Springer Science+Business Media, LLC, part of Springer Nature 2019 |
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Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system. © Springer Science+Business Media, LLC, part of Springer Nature 2019 |
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Abstract With the development of deep learning, autonomous robot systems grow rapidly and require better performance. Robot Operating System 2 (ROS2) has been widely adopted as the main communication framework in autonomous robot systems. However, the performance of ROS2 has become the bottleneck of these real-time systems. From our observations, we find that it can take a large amount of time to serialize complex message in communication, especially for some high-level programming languages, including Python, Java and so on. To address this challenge, we propose a novel technique, called adaptive two-layer serialization algorithm, which can achieve good performance in communication for different kinds of messages. Experimental results show that our algorithm can achieve significant performance improvement over traditional methods in ROS2, up to 93% improvement in our framework. We have successfully applied our proposed techniques in a real autonomous robot system. © Springer Science+Business Media, LLC, part of Springer Nature 2019 |
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Gong, Yifan Zhai, Jidong Wang, Yu-Ping Liu, Wei Wu, Hao Jin, Jiangming |
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Gong, Yifan Zhai, Jidong Wang, Yu-Ping Liu, Wei Wu, Hao Jin, Jiangming |
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129622028 |
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| doi_str |
10.1007/s10766-019-00647-w |
| up_date |
2024-07-04T00:08:47.003Z |
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