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AXON: A ROS 2 RMW with Shared-Memory/QUIC Transport and QKD/ML-KEM Key Establishment

arXiv · AI, language, vision and robotics · article · Sep 9, 2026 · UTC

Robot Operating System 2 (ROS 2) standardizes application code against a middleware interface (RMW) whose reference implementations are built on the Data Distribution Service (DDS). We present AXON, an alternative ROS 2 RMW implementation that separates transport policy by deployment scope. A Rust core and C++ adapter use POSIX shared-memory rings for same-host communication, QUIC for remote communication, and a daemon for discovery and graph synchronization. We then describe two fail-closed TLS 1.3 key-establishment configurations for remote traffic. The classic configuration offers only the

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