This survey introduces a three-dimensional conceptual framework (Space, Time, State) to analyze structural trade-offs and limits in ROS 2 middleware for distributed robotic systems.
IoRT ROS 2 applications: Evaluating Zenoh and VPN for robotic networking in the edge-cloud continuum,
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The Three Dimensions of ROS 2 Middleware
This survey introduces a three-dimensional conceptual framework (Space, Time, State) to analyze structural trade-offs and limits in ROS 2 middleware for distributed robotic systems.