Expansibility research of service robots communication protocol based on network calculus

Network calculus has been a widely used theory for the performance analysis of network, especially switched Ethernet. The delay is the most important factor affecting the performance of Ethernet. In this paper, we get the arrival curve and service curve of the switch of each level. And then we derive the recurrence formula between the maximum delay and network scale using the theory of network calculus. After building the tree topology model of Ethernet/SDARP, which is service robots communication protocol based on switched Ethernet, we calculate its delay by the formula. The simulation result by OPNET proves the accuracy of the formula. It also demonstrates the expansibility of the protocol.