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

被引:0
作者
Du, JL [1 ]
Rührup, S [1 ]
Witkowski, U [1 ]
Rückert, U [1 ]
机构
[1] Univ Paderborn, Syst & Circuit Technol Res Grp, D-33102 Paderborn, Germany
来源
2005 IEEE INTERNATIONAL WORKSHOP ON SAFETY, SECURITY AND RESCUE ROBOTS | 2005年
关键词
D O I
暂无
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
If robots are deployed in large numbers in disaster scenarios, the abilty 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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收藏
页码:7 / 12
页数:6
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