Resource and service discovery for large-scale robot networks in disaster scenarios

Du JL, Ruhrup S, Witkowski U, Rückert U (2005)
In: Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International. 7-12.

Conference Paper | Published | English

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Abstract
If robots are deployed in large numbers in disaster scenarios, the ability to discover and exchange resources and services with other robots in an open, heterogeneous, large-scale network will be essential for a successful operation. In this paper we present a discovery protocol that enables robots to efficiently locate resources and services available in large-scale networks. It is specifically designed for robot networks which are characterized by potentially highly dynamic network topologies and high service announcement-to-lookup ratios. The protocol exploits the position data of the robots to increase scalability and efficiency. A cell-based overlay structure is created, with master nodes in each cell. 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.
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Du JL, Ruhrup S, Witkowski U, Rückert U. Resource and service discovery for large-scale robot networks in disaster scenarios. In: Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International. 2005: 7-12.
Du, J. L., Ruhrup, S., Witkowski, U., & Rückert, U. (2005). Resource and service discovery for large-scale robot networks in disaster scenarios. Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International, 7-12.
Du, J. L., Ruhrup, S., Witkowski, U., and Rückert, U. (2005). “Resource and service discovery for large-scale robot networks in disaster scenarios” in Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International 7-12.
Du, J.L., et al., 2005. Resource and service discovery for large-scale robot networks in disaster scenarios. In Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International. pp. 7-12.
J.L. Du, et al., “Resource and service discovery for large-scale robot networks in disaster scenarios”, Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International, 2005, pp.7-12.
Du, J.L., Ruhrup, S., Witkowski, U., Rückert, U.: Resource and service discovery for large-scale robot networks in disaster scenarios. Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International. p. 7-12. (2005).
Du, Jia Lei, Ruhrup, S., Witkowski, U., and Rückert, Ulrich. “Resource and service discovery for large-scale robot networks in disaster scenarios”. Safety, Security and Rescue Robotics, Workshop, 2005 IEEE International. 2005. 7-12.
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