| Title: | GS4-4 Optimization Algorithm for Balancing QoS Configuration in Aggregated Robot Processing Architecture |
|---|---|
| Publication: | ICAROB2023 |
| Volume: | 28 |
| Pages: | 919-923 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2023.GS4-4 |
| Author(s): | Abdul Jalil, Jun Kobayashi, Takeshi Saitoh |
| Publication Date: | February 9, 2023 |
| Keywords: | Optimization, Quality of Service, ROS 2, Aggregated Robot Processing |
| Abstract: | Quality of Service (QoS) manages the data traffic to reduce packet loss, latency, and jitter in the network. This study aims to design an optimization algorithm to find the balance of QoS configuration to set the rates and buffer size while the robot data processes are communicated in the Aggregated Robot Processing (ARP) architecture. This study implements optimization to manage the DEPTH and DEADLINE QoS configuration in Robot Operating System 2 (ROS 2) node communication. Unbalancing DEPTH and DEADLINE configurations can affect the high latency time of message data transmission and packet loss in RELIABLE connections. The results of this study show that the optimization algorithm can determine the optimal value of DEPTH and DEADLINE by balancing the QoS configuration to improve the robot data transmission in the ARP architecture. |
| PDF File: | https://alife-robotics.co.jp/members2023/icarob/data/html/data/GS/GS4/GS4-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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