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However, existing publish-subscribe middleware frameworks, such as ROS 2 with DDS, are optimized for small data objects and face significant latency and overhead challenges when handling large sensor data between distributed application nodes. Recognizing the need for more efficient data management, we propose a new companion middleware that prioritizes application-specific data relevance, enabling selective communication of critical information while reducing the burden on communication resources and maintaining interoperability with state-of-the-art publish-subscribe middleware. This companion middleware enables timely and effective sharing of sensor data by focusing on regions of interest relevant to specific tasks, such as traffic light detection in driving scenarios. Experimental evaluations of our open source implementation of this companion middleware on a Linux platform demonstrate that our protocol integrates efficiently with ROS 2, significantly enhancing data management and communication efficiency.<\/jats:p>","DOI":"10.1145\/3800577","type":"journal-article","created":{"date-parts":[[2026,3,4]],"date-time":"2026-03-04T12:38:00Z","timestamp":1772627880000},"page":"1-24","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":0,"title":["Low Latency Communication of Large Data Objects by Subscriber-centric Selective Data Transfer"],"prefix":"10.1145","volume":"10","author":[{"ORCID":"https:\/\/orcid.org\/0009-0009-3043-1745","authenticated-orcid":false,"given":"Nora","family":"Sperling","sequence":"first","affiliation":[{"name":"Technische Universit\u00e4t Braunschweig, Brunswick, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2414-9566","authenticated-orcid":false,"given":"Rolf","family":"Ernst","sequence":"additional","affiliation":[{"name":"Technische Universit\u00e4t Braunschweig, Brunswick, Germany"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2026,5,12]]},"reference":[{"key":"e_1_3_2_2_2","doi-asserted-by":"publisher","DOI":"10.1109\/IEEESTD.2010.5501740"},{"key":"e_1_3_2_3_2","first-page":"1","article-title":"IEEE Draft Standard for Information Technology\u2014Telecommunications and Information Exchange between Systems Local and Metropolitan Area Networks-Specific Requirements\u2014Part 11: Wireless LAN Medium Access Control (MAC) and Physical Layer (PHY) Specifications Amendment: Enhancements for Extremely High Throughput (EHT)","author":"IEEE","year":"2023","unstructured":"IEEE. 2023. 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