Zoro: A robotic middleware combining high performance and high reliability

Journal of Parallel and Distributed Computing - Tập 166 - Trang 126-138 - 2022
Wei Liu1, Jiangming Jin1, Hao Wu1, Yifan Gong1, Ziyue Jiang1, Jidong Zhai2
1TuSimple, China
2Tsinghua University, China

Tài liệu tham khảo

Basheer, 2019, An overview of robot operating system forensics Chandra, 2007, Paxos made live: an engineering perspective, 398 Cruz, 2012, A DDS-based middleware for quality-of-service and high-performance networked robotics, Concurr. Comput., Pract. Exp., 24, 1940, 10.1002/cpe.2816 Elkady, 2012, Robotics middleware: a comprehensive literature survey and attribute-based bibliography, J. Robot., 10.1155/2012/959013 Gu, 2020, Harmonizing performance and isolation in microkernels with efficient intra-kernel isolation and communication Howard, 2015, Raft refloated: do we have consensus?, ACM SIGOPS Oper. Syst. Rev., 49, 12, 10.1145/2723872.2723876 Huang, 2010, LCM: lightweight communications and marshalling Jiang, 2020, Message passing optimization in robot operating system, Int. J. Parallel Program., 48, 1, 10.1007/s10766-019-00647-w Kang, 2012, RDDS: a real-time data distribution service for cyber-physical systems, IEEE Trans. Ind. Inform., 8, 393, 10.1109/TII.2012.2183878 Kay, 2015 Kjellqvist, 2020, Safe, fast sharing of memcached as a protected library, 1 Lamport, 2001, Paxos made simple, ACM SIGACT News, 32, 18 Lamport, 2006, Fast paxos, Distrib. Comput., 19, 79, 10.1007/s00446-006-0005-x LeCun, 2015, Deep learning, Nature, 521, 436, 10.1038/nature14539 Liu, 2020, Memory-centric communication mechanism for real-time autonomous navigation applications Mansky, 2017, A verified messaging system, Proc. ACM Program. Lang., 1, 1, 10.1145/3133911 Maruyama, 2016, Exploring the performance of ROS2 Mi, 2019, Skybridge: fast and secure inter-process communication for microkernels Nagarajan, 2006 Nilsson, 2014 Otstott, 2017, TCASM: an asynchronous shared memory interface for high-performance application composition, Parallel Comput., 63, 61, 10.1016/j.parco.2017.01.003 Pardo-Castellote, 2003, Omg data-distribution service: architectural overview Peng, 2020, Fast interprocess communication algorithm in microkernel, Int. J. Perform. Eng. Pradeep Quigley, 2009, ROS: an open-source Robot Operating System, vol. 3 Rao, 2017, Reliable robotic communication using multi-path TCP, 429 Reke, 2020, A self-driving car architecture in ROS2 Stevens, 2008 Tomoya Kawasaki, Crash-safe vehicle control system, U.S. Patent No. 7,613,568, 3 Nov. 2009. Wang Wei, 2016, RT-ROS: a real-time ROS architecture on multi-core processors, Future Gener. Comput. Syst., 56, 10.1016/j.future.2015.05.008 Wu, 2021, Accelerating GPU message communication for autonomous navigation systems