SDfR protocol : Service Discovery for Robots

Stefan-Gabriel Chitic 1 Julien Ponge 1 Olivier Simonin 1
1 DYNAMID - Dynamic Software and Distributed Systems
CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Nowadays robotic applications tend towards fleets of robots, be-ing capable of sharing information between multiple hosts as well as performing one or multiple tasks together. In order to facili-tate interaction and cooperation robots should advertise about their functionalities as services. In this paper, we propose a protocol for highly dynamic robotic applications that will allow robots to discover their neighbors services and their capabilities in any wire-less infrastructure. The protocol is an adaptation of the Service Discovery Protocol (SDP) used in Universal Plug and Play(UPnP). The paper also includes a series of benchmarking across multiple scenarios that allow us to evaluate our protocol. Our experiments looked up the various impacts that our proposal has on a multi-robot system, like request time of a publisher and a subscriber, the quan-tity of CPU and memory used and quantity of send and received bytes over the network.
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https://hal.archives-ouvertes.fr/hal-01104246
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Submitted on : Friday, January 16, 2015 - 2:04:02 PM
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Stefan-Gabriel Chitic, Julien Ponge, Olivier Simonin. SDfR protocol : Service Discovery for Robots. Journée sur les Architectures Logicielles pour la Robotique Autonome, les Systèmes Cyber-Physiques et les Systèmes Auto-Adaptables, Dec 2014, Paris, France. ⟨hal-01104246⟩

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