Dynamic DDS Discovery Filtering, Domain ID Scoping & High-Latency Mesh Bridging

Preventing multicast discovery storms and network saturation when hundreds of ROS 2 mobile robots connect to a shared Wi-Fi network.

Multicast Discovery Storm Elimination

Default ROS 2 simple discovery floods wireless networks with discovery packets as robot counts increase. SwarmMiddleware implements centralized discovery servers and Zenoh scouting routers, eliminating 99% of discovery network traffic.

Domain ID Scoping and Topic Namespace Partitioning

Each robot operates in an isolated ROS 2 Domain ID for internal node communication, bridging only sanitized fleet-level topics (`/fleet/state`, `/fleet/order`) across inter-vehicle wireless links.

Elimination of wireless multicast storms via discovery server architectures
Hierarchical Domain ID isolation preventing inter-robot topic naming collisions
Deterministic packet prioritization mapping safety topics to high-priority queues
Graceful operation across high-loss wireless links with up to 30% packet drop

ドメインを見る