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

Du JL, Witkowski U, Rückert U (2005)
In: Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on. 2235-2240.

Conference Paper | Published | English

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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 cellbased 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.
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Du JL, Witkowski U, Rückert U. CSD: cell-based service discovery in large-scale robot networks. In: Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on. 2005: 2235-2240.
Du, J. L., Witkowski, U., & Rückert, U. (2005). CSD: cell-based service discovery in large-scale robot networks. Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on, 2235-2240.
Du, J. L., Witkowski, U., and Rückert, U. (2005). “CSD: cell-based service discovery in large-scale robot networks” in Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on 2235-2240.
Du, J.L., Witkowski, U., & Rückert, U., 2005. CSD: cell-based service discovery in large-scale robot networks. In Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on. pp. 2235-2240.
J.L. Du, U. Witkowski, and U. Rückert, “CSD: cell-based service discovery in large-scale robot networks”, Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on, 2005, pp.2235-2240.
Du, J.L., Witkowski, U., Rückert, U.: CSD: cell-based service discovery in large-scale robot networks. Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on. p. 2235-2240. (2005).
Du, Jia Lei, Witkowski, U., and Rückert, Ulrich. “CSD: cell-based service discovery in large-scale robot networks”. Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on. 2005. 2235-2240.
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