@article{ART003383499},
author={Seung-Hwan Ju and Hee-Suk Seo},
title={Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments},
journal={Journal of The Korea Society of Computer and Information},
issn={1598-849X},
year={2026},
volume={31},
number={9},
pages={117-124}
TY - JOUR
AU - Seung-Hwan Ju
AU - Hee-Suk Seo
TI - Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments
JO - Journal of The Korea Society of Computer and Information
PY - 2026
VL - 31
IS - 9
PB - The Korean Society Of Computer And Information
SP - 117
EP - 124
SN - 1598-849X
AB - As autonomous driving systems adopt more distributed architectures, communication between ROS2 nodes and resource-constrained microROS devices is becoming increasingly important. However, microROS uses XRCE-DDS, which does not natively provide DDS-Security, leaving a security gap in heterogeneous ROS2–microROS communication. This paper designs a security architecture that applies TLS and VPN-based protection to address this limitation and evaluates its performance on a Raspberry Pi 5-based distributed testbed. The evaluation metrics included latency, throughput, CPU usage, and memory usage. The results show that TLS and VPN introduce moderate latency overhead while throughput and resource usage remain stable. These findings indicate that layered security can be a practical approach for protecting ROS2–microROS communication.
KW - ROS2;microROS;Heterogeneous Communication;Security Architecture;TLS;VPN
DO -
UR -
ER -
Seung-Hwan Ju and Hee-Suk Seo. (2026). Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments. Journal of The Korea Society of Computer and Information, 31(9), 117-124.
Seung-Hwan Ju and Hee-Suk Seo. 2026, "Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments", Journal of The Korea Society of Computer and Information, vol.31, no.9 pp.117-124.
Seung-Hwan Ju, Hee-Suk Seo "Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments" Journal of The Korea Society of Computer and Information 31.9 pp.117-124 (2026) : 117.
Seung-Hwan Ju, Hee-Suk Seo. Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments. 2026; 31(9), 117-124.
Seung-Hwan Ju and Hee-Suk Seo. "Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments" Journal of The Korea Society of Computer and Information 31, no.9 (2026) : 117-124.
Seung-Hwan Ju; Hee-Suk Seo. Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments. Journal of The Korea Society of Computer and Information, 31(9), 117-124.
Seung-Hwan Ju; Hee-Suk Seo. Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments. Journal of The Korea Society of Computer and Information. 2026; 31(9) 117-124.
Seung-Hwan Ju, Hee-Suk Seo. Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments. 2026; 31(9), 117-124.
Seung-Hwan Ju and Hee-Suk Seo. "Security Architecture Design and Performance Analysis in Heterogeneous ROS2–microROS Communication Environments" Journal of The Korea Society of Computer and Information 31, no.9 (2026) : 117-124.
