Development of a robotic testbed infrastructure with dynamic service discovery

dynamic service discovery;component-based system;robotic testbed;domain name system service discovery (DNS-SD);multicast domain name system (MDNS);zeromq;robot;testbed;software infrastructure;protocol buffers;JavaScript object notation (JSON);protobuf

Otap, Richard ; Dullerud ; Geir E.

关键词: dynamic service discovery;    component-based system;    robotic testbed;    domain name system service discovery (DNS-SD);    multicast domain name system (MDNS);    zeromq;    robot;    testbed;    software infrastructure;    protocol buffers;    JavaScript object notation (JSON);    protobuf;   

Others  :  https://www.ideals.illinois.edu/bitstream/handle/2142/42303/Richard_Otap.pdf?sequence=1&isAllowed=y

美国|英语

来源: The Illinois Digital Environment for Access to Learning and Scholarship

【 摘 要 】

This thesis provides a blueprint for a component-based infrastructure incorporating dynamic service discovery for a robotic testbed. The infrastructure consists of software using ZeroMQ as the transport layer for its speed and ease of use. JSON and Protocol Buffers are used to implement messaging. Finally, multicast DNS-SD is used, along with a custom software frontend incorporating the chosen transport and messaging, to provide dynamic service discovery. The choice of these technologies allows the infrastructure to stay simple and flexible for the programmer, while providing a full breadth of features. The dynamic service discovery component allows the infrastructure to uniquely allow for services to come online and advertise themselves on the network without a centralized broker. Services dynamically registered are shown to be available in under one second to client services searching for them on the network. This infrastructure adds standardization and adds new functionality to the testbed, and provides a pre-designed software package to simplify software development.