Development of a robotic testbed infrastructure with dynamic service discovery
Otap, Richard
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https://hdl.handle.net/2142/42303
Description
Title
Development of a robotic testbed infrastructure with dynamic service discovery
Author(s)
Otap, Richard
Issue Date
2013-02-03T19:30:51Z
Director of Research (if dissertation) or Advisor (if thesis)
Dullerud, Geir E.
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(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.
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