SDfR -Service discovery for multi-robot systems

Stefan-Gabriel Chitic 1, 2 Julien Ponge 2 Olivier Simonin 1
1 CHROMA - Robots coopératifs et adaptés à la présence humaine en environnements dynamiques
Inria Grenoble - Rhône-Alpes, CITI - CITI Centre of Innovation in Telecommunications and Integration of services
2 DYNAMID - Dynamic Software and Distributed Systems
CITI - CITI Centre of Innovation in Telecommunications and Integration of services
Abstract : Multi-robots systems require dedicated tools and models for their design and the deployment. Our approach proposes service-oriented architecture that can simplify the development and deployment. In order to solve the problem of neighbors and service discovery in an ad-hoc network, the fleet robot needs a protocol that is able to constantly discover new robots in its coverage area. To this end we propose a robotic middleware, SDfR, that is able to provide service discovery. This protocol is an extension of the Simple Service Discovery Protocol (SSDP) used in Universal Plug and Play (UPnP) used in dynamic networks generated by the mobility of the robots. Even if SDfR is platform independent, we propose a ROS (ROS, 2014) integration in order to facilitate the use. We evaluate a series of overhead benchmarking across static and dynamic scenarios. We also present some use-cases where our proposal was successfully used.
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Stefan-Gabriel Chitic, Julien Ponge, Olivier Simonin. SDfR -Service discovery for multi-robot systems. ICAART 2016 The 8th International Conference on Agents and Artificial Intelligence, Feb 2016, Rome, Italy. ⟨hal-01286895v2⟩

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