SFG-ROS introduces schema-driven traffic routing, on-demand centralized decoding, and adaptive container pipelines to achieve O(1) network traffic and 72.3% lower CPU scaling penalty in heterogeneous multi-agent ROS 2 deployments.
Open Robotics
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SFG-ROS: A Resource-Aware Framework for Dense Multi-Agent Perception
SFG-ROS introduces schema-driven traffic routing, on-demand centralized decoding, and adaptive container pipelines to achieve O(1) network traffic and 72.3% lower CPU scaling penalty in heterogeneous multi-agent ROS 2 deployments.