Adaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2
Updated 2 h ago · first seen 11 Sept 2026
paper_01M294WYEDW505ATMP5VFPD6CQ
- Published
- 6 Sept 2026
- T2 · 2 h ago
- arXiv
- 2608.15380
- T2 · 2 h ago
Abstract
In systems built on Robot Operating System 2 (ROS 2) and using Data Distribution Service (DDS), a single network-impaired or throttled subscriber on a RELIABLE topic can cause backpressure that degrades throughput and latency for all other subscribers, including safety-critical ones sharing the publisher, because the publisher's DDS writer can no longer accept new samples. We present Adaptive Bridge, a proxy-based layer that decouples critical subscribers from degraded or noncritical ones, thereby isolating the critical path through topic splitting and dynamic rate control. The proxy acts as a middleman and subscribes to the original topic and republishes the messages to two independent DDS writers: one RELIABLE writer for critical nodes and one BEST EFFORT writer for noncritical or degraded nodes, thus isolating the degraded nodes and safeguarding the publisher and critical nodes from backpressure. A probe-based classifier actively monitors subscriber health through sampling with hysteresis and adjusts subscriber rate limits in real time. We evaluate the system under a Gilbert-Elliott bursty wireless loss model using a reproducible Docker-based harness. The results show that using the Adaptive Bridge in our evaluation harness reduces the critical subscriber tail p95 latency from up to 15 s to 1.55 ms across all impairment severities while preserving the publisher's configured throughput.
Authors 2
Kaushalraj Puwar, B. Thangaraju
Specification
- Official page
Source:Hugging Face Hub (public pages, model cards, papers)T2observed 2 h agomedium
- arXiv id
- 2608.15380
Source:Hugging Face Hub (public pages, model cards, papers)T2observed 2 h agomedium
- Github repo
- KaushalrajPuwar/adaptive-bridge
Source:Hugging Face Hub (public pages, model cards, papers)T2observed 2 h agomedium
- Hf paper url
- https://huggingface.co/papers/2608.15380
Source:Hugging Face Hub (public pages, model cards, papers)T2observed 2 h agomedium
- Github stars
- 0
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- Hf comments
- 1
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- Upvotes
- 1
Source:Hugging Face Hub (public pages, model cards, papers)T2observed 2 h agomedium
Source:Hugging Face Hub (public pages, model cards, papers)T2observed 2 h agomedium
- Published
- 6 Sept 2026
Source:Hugging Face Hub (public pages, model cards, papers)T2observed 2 h agomedium
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| Value | Valid from → to | Status | Source | Confidence | Extractor |
|---|---|---|---|---|---|
| 0 | → current | current | Hugging Face Hub (public pages, model cards, papers)T2 | medium | deterministic |
Claims are temporal and append-only: a new observation closes the previous claim (valid_to) instead of overwriting it. Conflicting claims from different sources are kept side by side and flagged — never averaged. Methodology →
- New paperPaperAdaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2
New paper: Adaptive Bridge: A Proxy-Based Decoupling Layer for Mitigating DDS Backpressure in ROS 2
huggingface
| Source | Document | Type | Tier | Last observed | Snapshots |
|---|---|---|---|---|---|
| Hugging Face Hub (public pages, model cards, papers) | huggingface.co/papers | listing | T2· Quality secondary | 2 h ago | 2 |
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