StreamRTPS: Increasing DDS Bandwidth Efficiency by Reducing Protocol Overhead

摘要

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.