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.
Versions: 2.6.2 (ROS 2), 3.2.2 (DDS Router) (2026)
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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.