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, Robot operating system (ROS), suivi par la suite d'un état de l'art sur les middlewares couramment utilisés en robotique Basé sur les conclusions, nous proposons une contribution originale dans le contexte multi-robots, appelé?SDfRappelé?SDfR (Service discovery for Robots), un mécanisme de découverte des services pour les robots. L'objectif principal est de proposer un mécanisme permettant aux robots de garder une trace des pairs accessibles à l'intérieur d'une flotte tout en utilisant une infrastructure ad-hoc. Un autre objectif est de proposer un protocole de négociation de configuration réseau. A cause de la mobilité?desmobilité?des robots, les techniques classiques de configuration de réseau pair à pair ne conviennent pas, SDfR est un protocole hautement dynamique, adaptatif et évolutif adapté du protocole SSDP (Simple Service Discovery Proto-col). Nous conduisons un ensemble d'expériences, en utilisant une flotte de robots Turtlebot, pour mesurer et montrer que le surdébit de SDfR est limité
, INSA Lyon Président de jury : Prof. Noury BOURAQADI, IMT Lille Douai Composition du jury : Prof Saint-Martin-d'Hères Rapporteur Prof, Abderrafiaa KOUKAM