NDLI: CSD: cell-based service discovery in large-scale robot networks

Content Provider	IEEE Xplore Digital Library
Author	Jia Lei Du Witkowski, U. Ruckert, U.
Copyright Year	2005
Description	Author affiliation: Heinz Nixdorf Inst., Paderborn Univ., Germany (Jia Lei Du; Witkowski, U.; Ruckert, U.)
Abstract	If robots are deployed in large numbers in our environment in future, collaboration between the presumably specialized robots will be essential for a successful operation. The robots will set up mobile ad-hoc networks for communication and efficient routing and discovery protocols for such robot networks will provide the basic layer for a successful collaboration of the robots. In this paper we present a service discovery protocol that allows robots to efficiently discover available services in the network. It is specifically designed for large-scale robot networks. It takes into account the high dynamics of robot networks and exploits the position data of the robots to increase scalability and efficiency. A cell-based grid with master nodes in each cell forms the basic structure. Through proactive intra-cell communication and reactive inter-cell communication, scalability is ensured and the effects of node movements on the overall network are minimized. We implemented our solution in an example scenario.
Starting Page	2235
Ending Page	2240
File Size	223868
Page Count	6
File Format	PDF
ISBN	0780389123
DOI	10.1109/IROS.2005.1544963
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2005-08-02
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Intelligent networks Large-scale systems Robot kinematics Mobile robots Robotics and automation Mobile communication Collaboration Protocols Scalability Multirobot systems multi-robot system service discovery robot network service-based architecture
Content Type	Text
Resource Type	Article

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