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MobileROS: A Wireless-Native Robot Operating System for Mobile Robotics
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DOI：10.1109/tro.2026.3701579.png)
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Abstract
En 中文
The increasing deployment of mobile robots in dynamic outdoor environments necessitates robotic systems capable of maintaining reliability amidst fluctuating wireless connectivity. While the robot operating system (ROS) has established itself as the de facto standard for such networked robotics, its abstraction of communication as an opaque, best-effort utility creates a critical bottleneck: it fails to leverage physical layer (PHY) information, resulting in degraded performance and unreliable execution in fluctuating networks. To address this, this article presents MobileROS, a wireless-native ROS that transforms wireless communication from an external service into a core system resource. Grounded in the symbiotic paradigm, MobileROS establishes a bidirectional exchange where network conditions inform robotic decisions and mission requirements guide network resource allocation. Based on service mesh principles and domain-driven design, our architecture implements a Hub-engines-cells (HEC) model. It features a central Hub for global optimization, three specialized engines (the radio information engine, the cross domain engine, and the physical adaptive engine) for cross-layer intelligence, and distributed cells as functional units. A key mechanism, application-driven bidirectional dynamic slicing, allows robots to actively reconfigure network resources based on semantic urgency, transforming the robot from a passive observer into an active network controller. We systematically evaluate MobileROS across three cities (London, Hong Kong, and Shenzhen) in five scenarios: distributed visual SLAM, cross-domain LiDAR perception, V2X autonomous driving, hybrid multirobot collaboration against WebRTC baselines, and partition recovery validating CAP-theorem-aware failsafe mechanisms. Results demonstrate that MobileROS maintains significantly more stable performance than standard ROS in mobile wireless deployments.
Keywords:
Mobile robots
cross layer design
fault tolerant control
vehicle-to-everything
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