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Title:Development of a robotic testbed infrastructure with dynamic service discovery
Author(s):Otap, Richard
Advisor(s):Dullerud, Geir E.
Department / Program:Electrical & Computer Eng
Discipline:Electrical & Computer Engr
Degree Granting Institution:University of Illinois at Urbana-Champaign
Degree:M.S.
Genre:Thesis
Subject(s):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
Abstract: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.
Issue Date:2013-02-03
URI:http://hdl.handle.net/2142/42303
Rights Information:Copyright 2012 Richard G. Otap
Date Available in IDEALS:2013-02-03
Date Deposited:2012-12


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