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This paper proposes a framework to measure the important metrics (throughput,delay, packet retransmits, signal strength, etc.) to determine Wi-Fi networkperformance of mobile robots supported by the Robot Operating Systems (ROS)middleware. We analyze the bidirectional network performance of mobile robotsthrough an experimental setup in an indoor environment, where a mobile robot iscommunicating vital sensor data such as video streaming from the camera(s) andLiDAR scan values to a command station while it navigates an indoor environmentthrough teleoperated velocity commands received from the command station. Theexperiments evaluate the performance under 2.4 GHz and 5 GHz channels withdifferent placement of Access Points (AP) with up to two network devices oneach side. The framework is generalizable to vehicular network evaluation andthe discussions and insights from this study apply to the field roboticscommunity, where the wireless network plays a key role in enabling the successof robotic missions in real-world environments.

Empirical Analysis of Bi-directional Wi-Fi Network Performance on Mobile Robots in Indoor Environments