  The Data Distribution Service (DDS) is a widely used communication
specification for real-time mission-critical systems that follow the principles
of publish-subscribe middleware. DDS has an extensive set of quality of service
(QoS) parameters allowing a thorough customisation of the intended
communication. An extensive survey of the performance of the implementations of
this communication middleware is lacking. This paper closes the gap by
surveying the state of the art in performance of various DDS implementations
and identifying any research gaps that exist within this domain.
