arXiv subjects

David Philipp Klüner

Publications and source records attributed to David Philipp Klüner.

5 recordsLinked to original sources

arXiv2026

StreamRTPS: Increasing DDS Bandwidth Efficiency by Reducing Protocol Overhead

In this paper, we propose three extensions to the Real-Time Publish Subscribe wire protocol, on which Data Distribution Service (DDS) is based, to improve bandwidth efficiency. First, a stream negotiation mechanism exchanges static header information during discovery, replacing the full RTPS header at runtime with a compact 2 B identifier. Second, a payload aggregation scheme aggregates samples for the same locator into single UDP packets, reducing IP and UDP header costs. Third, a predictive heartbeat suppression strategy reduces control traffic by omitting heartbeats for periodic communication patterns, falling back upon detected loss or timing violations. All three mechanisms preserve Real-Time Publish Subscribe(RTPS) compatibility by extending DDS discovery to activate these features when supported. Experimental results show that stream headers reduce bandwidth consumption by up to 27.9 % compared to conventional RTPS under best-effort transport, and that heartbeat suppression yields a further 22.7 % reduction on top of stream headers under reliable transport, while preserving transmission latency in both cases.

cs.NI↗

arXiv2026

Selective Field Transmission: Bandwidth Efficient Communication under Standardized Message Schemas

In this paper, we introduce and evaluate Selective Field Transmission (SFT), a middleware mechanism that decouples transmission content from statically defined message types in publish-subscribe systems. Industrial and robotics developers often face a dilemma: They can follow established best practices and use standard message types, such as in the Robot Operating System 2 (ROS 2) and COVESA projects, to benefit from reusable and interoperable interfaces, or they can introduce proprietary, project-specific message types tailored to receiver requirements to reduce bandwidth. SFT resolves this trade-off by dynamically adapting the transmitted message components to each receivers actual needs while preserving unmodified standard interfaces. Receivers declare or automatically derive the required message components, which are communicated to the publisher. The publisher then serializes and transmits only the required component subset per receiver with minimal developer intervention. Our evaluation shows that SFT achieves significant bandwidth reductions without measurable per-message latency overhead, with savings proportional to the number and size of unused fields.

cs.NI↗

arXiv2026

A Comparison of ROS 2 and AUTOSAR Adaptive Platform Against Industry-Elicited Automotive Middleware Requirements

In software-defined vehicles, automotive middleware plays a fundamental role in enabling efficient communication, integration, and coordination among software components. This paper examines how well two of the currently most popular middleware frameworks, ROS 2 Jazzy and AUTOSAR Adaptive Platform R24-11, meet practical requirements elicited from automotive software engineers at one of the major automotive supplier companies, ZF Group. Our objective is to provide insight into an otherwise difficult-to-obtain industrial perspective and support a clearer understanding of priorities in the development and evaluation of middleware for automotive applications.

cs.SE↗

arXiv2026

Modern Middlewares for Automated Vehicles: A Tutorial

This paper offers a tutorial on current middlewares in automated vehicles. Our aim is to provide the reader with an overview of current middlewares and to identify open challenges in this field. We start by explaining the fundamentals of software architecture in distributed systems and the distinguishing requirements of Automated Vehicles. We then distinguish between communication middlewares and architecture platforms and highlight their key principles and differences. Next, we present five state-of-the-art middlewares as well as their capabilities and functions. We explore how these middlewares could be applied in the design of future vehicle software and their role in the automotive domain. Finally, we compare the five middlewares presented and discuss open research challenges.

cs.SE↗

arXiv2025

Automotive Middleware Performance: Comparison of FastDDS, Zenoh and vSomeIP

In this study, we evaluate the performance of current automotive communication middlewares under various operating conditions. Specifically, we examine FastDDS, a widely used open-source middleware, the newly developed Zenoh middleware, and vSomeIP, COVESAs open-source implementation of SOME/IP. Our objective is to identify the best performing middleware for specific operating conditions. To ensure accessibility, we first provide a concise overview of middleware technologies and their fundamental principles. We then introduce our testing methodology designed to systematically assess middleware performance metrics such as scaling performance, end-to-end latency, and discovery times across multiple message types, network topologies, and configurations. Finally, we compare the resulting performance data and present our results in nine findings. Our evaluation code and the resulting data will be made publicly available upon acceptance.

cs.PF↗