TY  - JOUR
T1  - Research on PX4-ROS2 Wireless Communication Optimization Technology for Swarm Operation
AU  - Lee, Hyeon-gyu 
AU  - Moon, Sung-tae 
JO  - The Journal of Korean Institute of Communications and Information Sciences
PY  - 2024
DA  - 2024/1/1
DO  - 10.7840/kics.2024.49.7.947
KW  - ROS2
KW  - DDS
KW  - PX4
KW  - Swarm Operation
KW  - WIreless
AB  - Recently, there has been a growing interest in the development of service systems utilizing unmanned vehicles across various fields. In this context, the open-source platform PX4-ROS2 has garnered attention for facilitating the development of service systems leveraging unmanned vehicles. In particular, the utilization of PX4-ROS2 DDS (Data Distribution Service) enables the flexible configuration of networks for swarm mobility, garnering attention for its ability to provide diverse functionalities. However, there exists a challenge in swarm operations using DDS, as a substantial amount of traffic is generated during the initial exchange of configuration data and exploration among multiple nodes. This paper, we analyze the network traffic generated during the initial discovery phase of swarm operations of unmanned vehicles across various DDS vendors. We propose a discovery mechanism aimed at optimizing communication volume by embedding necessary communication data in advance to prevent redundant data transmission among multiple unmanned vehicles and by sharing changes in communication data at regular intervals to reduce network load.