SDfR protocol : Service Discovery for Robots

National audienceNowadays robotic applications tend towards fleets of robots, be-ing capable of sharing information between multiple hosts as well as performing one or multiple tasks together. In order to facili-tate interaction and cooperation robots should advertise about their functionalities as services. In this paper, we propose a protocol for highly dynamic robotic applications that will allow robots to discover their neighbors services and their capabilities in any wire-less infrastructure. The protocol is an adaptation of the Service Discovery Protocol (SDP) used in Universal Plug and Play(UPnP). The paper also includes a series of benchmarking across multiple scenarios that allow us to evaluate our protocol. Our experiments looked up the various impacts that our proposal has on a multi-robot system, like request time of a publisher and a subscriber, the quan-tity of CPU and memory used and quantity of send and received bytes over the network