Showing 2026Show all
3 papers · 1 filter
cs.NI2026
When Discovery Becomes a Storm: A ROS 2 Discovery Model for Wireless Robotic Networks
Yeonwoo Choi, Sanghoon Lee, Kyung-Joon Park
In Robot Operating System 2 (ROS 2), Data Distribution Service (DDS) participants must discover one another before exchanging data. In wireless environments, delayed or lost discov…
cs.RO2026
ros2probe: Non-intrusive, Kernel-selective Observability for Robot Operating System 2 Middleware
Jisang Yu, Sanghoon Lee, Yeonwoo Choi +1
Robot Operating System 2 (ROS 2), the de facto standard middleware framework for robots, runs each robot as a graph of nodes communicating over the Data Distribution Service (DDS),…
cs.RO2026
Harness Engineering for Physical AI: Robot Middleware Is the Harness Layer
Sanghoon Lee, Jiyeong Chae, Kyung-Joon Park
Robot middleware faces a new role in the era of Physical AI. Learned policies, planners, and vision-language-action (VLA) models now enter deployed robots as causal participants on…