1. Encryption/Decryption time

We measure the encryption/decryption time of the proposed solution over different message lengths at a constant publishing frequency of 20 Hz, as shown in the table

2. Encryption/Decryption time, more details

We then measure the encryption/decryption time of the proposed solution at different publishing frequency, with four different message length 64 bytes, 256 bytes, 1025 bytes and 4096 bytes. The experimental results are presented in the four sheets of the table.

3. Communication Latency vs Message Length.

We then measure the communication latency of the four security implementations with different message lengths. Note that the average ping delay between the two testing robots is 2.39 milliseconds.

4. Communication Latency vs Frequency

We measure the communication latency of the four security implementations with publishing frequency, at four different payload message length: 64 bytes, 256 bytes, 1024 bytes and 4096 bytes. The experimental results are presented in the four sheets of the table.

5. Communication Latency vs # of Publisher/Subscriber pairs.

We measure the communication latency of the four security implementations with different number of publisher/subscriber pairs (in series) ranging from 1 to 8, at four different payload message length: 64 bytes, 256 bytes, 1024 bytes and 4096 bytes. The experimental results are presented in the four sheets of the table.

6. CPU and RAM Usage.

We measure the CPU and RAM usage of the four different security implementations on the two selected workloads: navigation workload and centralized exploration workload. The experimental results are presented in the table.