An Empirical Evaluation of the Effects of IoT Messaging Protocols
Matthew Furlong, Sekou L. Remy, Jerome L. McClendon · 2016
In this paper, we evaluate the performance of feedback control with different publish and subscribe architectures. Specifically we look to evaluate the difference between ROS, MQTT, and Kafka under the three network conditions. Our results show that latency alone can not be used to assess performance of a real time control system.