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This paper presents an innovative decentralized robotic control system utilizing an ESP32-based wireless mesh network (WMN). Building upon the “painlessMesh” library for network management, this study enables JSON-formatted data exchange in peer-to-peer and broadcast modes. A key contribution is our implementation of a security layer incorporating ECDH key exchange and AES128 encryption, which we thoroughly analyze across various node configurations. The WMN is seamlessly integrated with the Robot Operating System (ROS) via a custom serial bridge, combining the mesh network’s real-time, distributed control capabilities with ROS’s advanced computational resources. This architecture creates a flexible, scalable platform for sophisticated robotic applications. Our study rigorously evaluates system performance, balancing network topology, security, and responsiveness. The results provide critical insights for deploying secure, decentralized mesh networks in real-world robotic applications, particularly in areas such as swarm robotics and robot-infrastructure coordination, while maintaining the cost-effectiveness and energy efficiency of ESP32-based nodes.

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Modular Robotic Controllers with Ad-Hoc ESP32 Wireless Mesh Network and Embedded AES Security

  • 会议论文

  • 发表日期：

    2025年

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  • Yisu Fang,
  • Hadyan Hafizh,
  • Muhammad Ateeq,
  • Andrew Huey Ping Tan

摘要

This paper presents an innovative decentralized robotic control system utilizing an ESP32-based wireless mesh network (WMN). Building upon the “painlessMesh” library for network management, this study enables JSON-formatted data exchange in peer-to-peer and broadcast modes. A key contribution is our implementation of a security layer incorporating ECDH key exchange and AES128 encryption, which we thoroughly analyze across various node configurations. The WMN is seamlessly integrated with the Robot Operating System (ROS) via a custom serial bridge, combining the mesh network’s real-time, distributed control capabilities with ROS’s advanced computational resources. This architecture creates a flexible, scalable platform for sophisticated robotic applications. Our study rigorously evaluates system performance, balancing network topology, security, and responsiveness. The results provide critical insights for deploying secure, decentralized mesh networks in real-world robotic applications, particularly in areas such as swarm robotics and robot-infrastructure coordination, while maintaining the cost-effectiveness and energy efficiency of ESP32-based nodes.