Videos, papers & more
Zenoh Slides, Videos, Papers and More
Conference talks, tutorials, user-meeting recordings, research papers, and slide decks from the Zenoh team and community.
The Zenoh Report
Monthly digest hosted on corsaro.me covering releases, ecosystem highlights, design notes, and deployment tips.
Reference Guides
Topic-oriented reading that complements the official docs with protocol details, comparative context, and long-form guides.
Specification
Zenoh Protocol Specification
Formal wire format, message flow, architecture, and security semantics.
Handbook
Zenoh Book
Long-form guide to Zenoh architecture, concepts, and hands-on examples.
Research
Zenoh Papers
Collected academic papers, benchmarks, and external studies involving Zenoh.
Robotics
Zenoh for ROS 2
Background and rationale for using Zenoh across robots, fleets, edge systems, and cloud services.
Comparison
Zenoh as a DDS Alternative
Concise comparison for teams evaluating Zenoh and DDS across embedded, edge, and cloud deployments.
Featured Playlists
Curated video series on YouTube.
Advanced Zenoh Tutorial
Four-part deep-dive into Zenoh primitives, topology, QoS, liveliness, and routing. Updated for 2025.
Zenoh User Meeting 2024
Sessions from industry adopters and the Zenoh team at the annual community summit.
Zenoh User Meeting 2023
Talks from GM, NXP, TTTech Auto, Intrinsic, Tractonomy Robotics, University of Tokyo, and more.
Zenoh in Robotics
How Zenoh powers next-generation robot communication, including rmw_zenoh for ROS 2.
Zenoh in Automotive
V2X communication, SDV architecture, and AUTOSAR integration with Zenoh.
Taming the Dragon Webinar Series
Six-episode webinar series covering Zenoh from first principles to advanced deployment patterns.
Papers, Reports & Slides
Official resources, academic research, and conference slides on the Zenoh protocol.
Research Paper · IEEE DSD 2023
Zenoh: Unifying Communication, Storage and Computation from Cloud to Microcontroller
Corsaro et al. · 2023
Technical Report · Open Robotics
ROS 2 RMW Alternate Middleware Evaluation
Open Robotics Discourse · 2023
Slides · Speakerdeck
Zenoh Speakerdeck — Conference & Talk Slides
Angelo Corsaro · ongoing
Academic Research Papers
18 publicationsStepping Toward Zenoh Protocol in Automotive Scenarios
Chisalita, Korodi
On the Performance of Zenoh in Industrial IoT Scenarios
Barón, Díez, Zverev, Juárez, Agüero
Leveraging Decentralized Communication for Privacy-Preserving Federated Learning in 6G Networks
Teixeira, Baldoni, Antunes, Gomes, Aguiar
Automotive Middleware Performance: Comparison of FastDDS, Zenoh and vSomeIP
Klüner, Hegerath, Hatib, Kowalewski, Alrifaee, Kampmann
Performance Comparison of ROS 2 Middlewares for Multi-robot Mesh Networks in Planetary Exploration
Chovet, Garcia, Bera, Richard, Yoshida, Olivares-Mendez
IoRT ROS 2 Applications: Evaluating Zenoh and VPN for Robotic Networking in the Edge-Cloud Continuum
Fu, Kapoor, Militano, Toffetti Carughi, Bohnert
Comparison of Middlewares in Edge-to-Edge and Edge-to-Cloud Communication for Distributed ROS 2 Systems
Zhang, Yu, Ha, Queralta, Westerlund
Unleashing the Power of Decentralized Serverless IoT Dataflow Architecture for the Cloud-to-Edge Continuum
López Escobar, Díaz-Redondo, Gil-Castiñeira
A Performance Study on the Throughput and Latency of Zenoh, MQTT, Kafka, and DDS
Liang, Yuan, Lin
A Dataflow-Oriented Approach for Machine-Learning-Powered Internet of Things Applications (Zenoh-Flow)
Baldoni, Teixeira, Guimarães, Antunes, Gomes
ROS-based Robotic Applications Orchestration in the Compute Continuum: Challenges and Approaches
Toffetti, Militano, Ratnayake, Straub
Decentralized Serverless IoT Dataflow Architecture for the Cloud-to-Edge Continuum
López Escobar, Gil-Castiñeira, Díaz Redondo
Realizing Flat Multi-Zone Multi-Controller Software-Defined Networks using Zenoh
Giarré, Cominardi, Casari
Scalable and Bounded-time Decisions on Edge Device Network using Eclipse Zenoh
Shih, Lin, Yuan, Kuo, Liang
Realizing Zenoh with Programmable Dataplanes
Santos, Quevedo, Corujo
Facilitating Distributed Data-Flow Programming with Eclipse Zenoh: the ERDOS Case
Baldoni, Loudet, Cominardi, Corsaro, He
Zenoh-based Dataflow Framework for Autonomous Vehicles
Baldoni, Loudet, Cominardi, Corsaro, He
Tutorials & Getting Started
Learn Zenoh from the fundamentals through to advanced features.
Zenoh: The Genesys — Zenoh Summit 2022
The founding keynote: motivations, design philosophy, and core concepts of the Zenoh protocol.
Understanding Zenoh
A technical deep-dive into Zenoh's architecture, protocol design, and how it compares to existing middleware.
Advanced Zenoh Tutorial — Part I
Core primitives: pub/sub, queryables, topology (peer-to-peer, mesh, brokered, routed). Part 1 of 4.
Zenoh Advanced Features Workshop
Protocol internals, shared memory transport, interceptors, and serialization. Companion to the RMW workshop.
Zenoh and Edge Computing: A Perfect Marriage
How Zenoh unifies data in motion, at rest, and computation across the cloud-to-edge-to-device continuum.
Robotics & ROS 2
Zenoh as next-generation middleware for robot applications.
Improving ROS 2 Communications with Zenoh
Geoffrey Biggs (Open Robotics) on how Zenoh enhances the communications layer of ROS 2 applications.
ROS 2 and Zenoh: From Zero to Deployment
End-to-end walkthrough: configuring Zenoh as ROS 2 middleware, with a live Turtlebot4 demo over WiFi.
Live rmw_zenoh Workshop (Jan 2025)
Hands-on workshop covering rmw_zenoh — the official ROS 2 middleware implementation built on Zenoh.
One Year of rmw_zenoh — ZUM 2024
Yadunund Vijay (Intrinsic) reviews adoption, lessons learned, and the roadmap for the Zenoh ROS 2 RMW.
Zenoh Kotlin SDK Turtlebot Demo — ZUM 2024
Live demo of an Android application using Zenoh Kotlin bindings to control a Turtlebot robot.
Automotive & SDV
Software-defined vehicles, V2X communication, and AUTOSAR integration.
Zenoh at Woven by Toyota — ZUM 2024
Pete LeVasseur from Woven by Toyota on deploying Zenoh for software-defined vehicle communication.
ZUM 2023: GM, TTTech Auto & More
Automotive sessions at ZUM23: Steven Hartley (General Motors), Christopher Helpa (TTTech Auto), Sara Gallian (Eclipse SDV).
User Meetings & Community
Annual summits bringing together the global Zenoh community.
Zenoh User Meeting 2024 — Full Recording
The complete ZUM24 archive: keynotes, ecosystem talks, live demos, and community Q&A.
Zenoh User Meeting 2023 — Full Recording
Sessions from GM, NXP, TTTech Auto, Intrinsic, Tractonomy Robotics, University of Tokyo, and more.
One Year Retrospective on rmw_zenoh
Yadunund Vijay (Intrinsic) at ZUM24: a year of shipping the official Zenoh ROS 2 middleware.
Woven by Toyota at ZUM 2024
Pete LeVasseur on production deployment of Zenoh in automotive software-defined vehicle infrastructure.