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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.NI2025
Dependency Chain Analysis of ROS 2 DDS QoS Policies: From Lifecycle Tutorial to Static Verification
Sanghoon Lee, Junha Kang, Kyung-Joon Park
Robot Operating System 2 (ROS 2) relies on the Data Distribution Service (DDS), which offers more than 20 Quality of Service (QoS) policies governing availability, reliability, and…
cs.NI2025
Optimizing ROS 2 Communication for Wireless Robotic Systems
Sanghoon Lee, Taehun Kim, Jiyeong Chae +1
Wireless transmission of large payloads, such as high-resolution images and LiDAR point clouds, is a major bottleneck in ROS 2, the leading open-source robotics middleware. The def…