Here is a recent 2018 paper from Robotics and Autonomous Systems that touches on this topic:
https://www.sciencedirect.com/science/article/pii/S0921889017303044
> In order to reproduce the network scenarios described before (localhost, Gigabit ethernet and WiFi networks), we take advantage from Linux NetEm [46]. This module allows the simulation of network delays. Moreover, we are able to simulate bandwidth and packet loss.
[46] S. Hemminger, Network Emulation with NetEm, in: Linux Conf Au, 2005. URL
http://developer.osdl.org/shemminger/netem/LCA2005_paper.pdf.
Looks like they've also released there code for the experiments here:
https://gitlab.aulas.gsyc.urjc.es/fmartin/JdeRobotROS
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