A Faster and More Reliable Middleware for Autonomous Driving Systems

Ensuring safety in high-speed autonomous vehicles depends on rapid control loops and tightly bounded delays from perception to actuation. Many open-source autonomy systems depend on ROS 2 middleware, but when multiple sensor and control nodes share a single computing unit, ROS 2 and its DDS transports introduce significant (de)serialization, data copying, and discovery overheads, eroding the available time budget.

https://arxiv.org/html/2510.11448v1