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The Artemis Accords, a series of international agreements, have further catalyzed this progress by fostering cooperation in space exploration, emphasizing the use of cutting-edge technologies. In parallel, companies across various sectors\u2019 widespread adoption of the Robot Operating System 2 (ROS 2) underscores its robustness and versatility. This paper evaluates the performances of available ROS 2 MiddleWare (RMW), such as FastRTPS, CycloneDDS and Zenoh, over a mesh network with a dynamic topology. The final choice of RMW is determined by the one that would most fit the scenario: an exploration of the extreme extra-terrestrial environment using a Multi-Robot Systems (MRS). The conducted study in a real environment highlights Zenoh as a potential solution for future applications, showing a reduced delay, reachability, data overhead and CPU usage while being competitive on the RAM usage over a dynamic mesh topology.<\/jats:p>","DOI":"10.1007\/s10846-024-02211-2","type":"journal-article","created":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T08:30:04Z","timestamp":1737189004000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Performance Comparison of ROS2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration"],"prefix":"10.1007","volume":"111","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4025-9095","authenticated-orcid":false,"given":"Lo\u00efck Pierre","family":"Chovet","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2173-8747","authenticated-orcid":false,"given":"Gabriel Manuel","family":"Garcia","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0196-5969","authenticated-orcid":false,"given":"Abhishek","family":"Bera","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4018-699X","authenticated-orcid":false,"given":"Antoine","family":"Richard","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3889-5877","authenticated-orcid":false,"given":"Kazuya","family":"Yoshida","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8824-3231","authenticated-orcid":false,"given":"Miguel Angel","family":"Olivares-Mendez","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2025,1,18]]},"reference":[{"key":"2211_CR1","doi-asserted-by":"crossref","unstructured":"Pretto, A., Aravecchia, S., Burgard, W., Chebrolu, N., Dornhege, C., Falck, T., Fleckenstein, F., Fontenla, A., Imperoli, M., Khanna, R., Liebisch, F., Lottes, P., Milioto, A., Nardi, D., Nardi, S., Pfeifer, J., Popovi\u0107, M., Potena, C., Pradalier, C., Rothacker-Feder, E., Sa, I., Schaefer, A., Siegwart, R., Stachniss, C., Walter, A., Winterhalter, W., Wu, X., Nieto, J.: Building an Aerial-Ground Robotics System for Precision Farming: An Adaptable Solution. 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