Development of a robotic testbed infrastructure with dynamic service discovery

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.

Name thesis:degree_name

M.S.

Level thesis:degree_level

Thesis

Discipline thesis:degree_discipline

Electrical & Computer Engr

Grantor

University of Illinois at Urbana-Champaign

Year dc:date

2013

Author dc:creator

• Otap, Richard

Contributors dc:contributor

• Dullerud, Geir E.

• 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

Statement dc:rights

• Copyright 2012 Richard G. Otap

Language dc:language

en

Handle dc:identifier

http://hdl.handle.net/2142/42303

OAI identifier oai:identifier

oai:www.ideals.illinois.edu:2142/42303