# Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration

arXiv: https://arxiv.org/abs/2407.03091 · HTML: https://mlsanity.com/paper/2407.03091/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 3 Jul 2024.

## Built on by (most cited first, 1 of 1)

- [Efficient Coordination with the System-Level Shared State: An Embodied-AI Native Modular Framework](https://mlsanity.com/paper/2601.13945/) (2026)

## Abstract (arXiv)

Recent advancements in Multi-Robot Systems (MRS) and mesh network technologies pave the way for innovative approaches to explore extreme environments. The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, the widespread adoption of the Robot Operating System 2 (ROS 2) by companies across various sectors underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would fit the most the scenario: an exploration of the extreme extra-terrestrial environment using a MRS. The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, and CPU usage while being competitive on data overhead and RAM usage over a dynamic mesh topology