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Control Plane vs. Data Plane

RoIS defines only the streaming control plane. The media data plane is out of scope, which makes WebRTC a natural fit.

WebRTC signaling travels over the existing WebSocket RoIS connection (passed as set_parameter arguments), so no separate signaling server is required.

An important distinction the specification preserves: Speech Synthesis is a command component (text to robot speaker locally), not a stream. Audio and Video Streaming are stream-control components (live media robot to operator), using WebRTC.

P2P vs. SFU​

  • Fleet of 1 to 3 robots: peer-to-peer WebRTC is sufficient.
  • Larger fleets: route media through a Selective Forwarding Unit (mediasoup, LiveKit). The RoIS streaming control interface is identical either way. The SFU is an implementation detail of the gateway.