SDfR - Service Discovery for Robots

Stefan-Gabriel Chitic, Julien Ponge, Olivier Simonin


Multi-robots systems require dedicated tools and models for their design and the deployment. Our approach proposes service-oriented architecture that can simplify the development and deployment. In order to solve the problem of neighbors and service discovery in an ad-hoc network, the fleet robot needs a protocol that is able to constantly discover new robots in its coverage area. To this end we propose a robotic middleware, SDfR, that is able to provide service discovery. This protocol is an extension of the Simple Service Discovery Protocol (SSDP) used in Universal Plug and Play (UPnP) to dynamic networks generated by the mobility of the robots. Even if SDfR is platform independent, we propose a ROS (ROS, 2014) integration in order to facilitate the usage. We evaluate a series of overhead benchmarking across static and dynamic scenarios. We also present some use-cases where our proposal was successfully tested.


  1. Ahn, S. C., Kim, J. H., Lim, K., Ko, H., Kwon, Y.-M., and Kim, H.-G. (2005). Upnp approach for robot middleware. In Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on, pages 1959-1963. IEEE.
  2. Borja, R., de la Pinta, J., Ílvarez, A., and Maestre, J. (2013). Integration of service robots in the smart home by means of UPnP: A surveillance robot case study. Robotics and Autonomous Systems, 61(2):153 - 160.
  3. Chitic, S., Ponge, J., and Simonin, O. (2014). Are middlewares ready for multi-robots systems? In Simulation, Modeling, and Programming for Autonomous Robots - 4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014, pages 279-290.
  4. Cousins, S., Gerkey, B., Conley, K., and Garage, W. (2010). Sharing software with ros [ros topics]. Robotics & Automation Magazine, IEEE, 17(2):12-14.
  5. del Val, E., Rebollo, M., and Botti, V. (2014). Enhancing decentralized service discovery in open serviceoriented multi-agent systems. Autonomous Agents and Multi-Agent Systems, 28(1):1-30.
  6. Fielding, R. (2000). Representational state transfer. Architectural Styles and the Design of Netowork-based Software Architecture, pages 76-85.
  7. Frénot, S., Le Mouël, F., Ponge, J., and Salagnac, G. (2010). Various Extensions for the Ambient OSGi framework. In Adamus Workshop in ICPS, Berlin, Allemagne.
  8. Goland, Y. Y., Cai, T., Leach, P., and Albright, S. Simple service discovery protocol. RFC 2026.
  9. Gummadi, P. K., Saroiu, S., and Gribble, S. D. (2002). A measurement study of napster and gnutella as examples of peer-to-peer file sharing systems. ACM SIGCOMM Computer Communication Review, 32(1):82- 82.
  10. Issarny, V., Georgantas, N., Hachem, S., Zarras, A., Vassiliadist, P., Autili, M., Gerosa, M. A., and Hamida, A. B. (2011). Service-oriented middleware for the future internet: state of the art and research directions. Journal of Internet Services and Applications, 2(1):23-45.
  11. Klusch, M., Fries, B., and Sycara, K. (2006). Automated semantic web service discovery with owls-mx. In Proc. of the fifth international joint conference on Autonomous agents and multiagent systems, pages 915- 922. ACM.
  12. Kranz, M., Rusu, R. B., Maldonado, A., Beetz, M., and Schmidt, A. (2006). A player/stage system for context-aware intelligent environments.
  13. Matignon, L., Chitic, S., and Simonin, O. (2014). Cooperating in a group of mobile robots to identify the human skeleton model.
  14. Maymounkov, P. and Mazieres, D. (2002). Kademlia: A peer-to-peer information system based on the xor metric. In Peer-to-Peer Systems, pages 53-65. Springer.
  15. Pereira, A., Costa, N., and Seroˆdio, C. (2011). Peer-to-peer Jini for truly service-oriented WSNs. International Journal of Distributed Sensor Networks, 2011.
  16. Quigley, M., Conley, K., Gerkey, B., Faust, J., Foote, T., Leibs, J., Wheeler, R., and Ng, A. Y. (2009). Ros: an open-source robot operating system. In ICRA workshop on open source software, volume 3.
  17. Romero, D., Rouvoy, R., Seinturier, L., and Carton, P. (2010). Service discovery in ubiquitous feedback control loops. In Distributed Applications and Interoperable Systems, pages 112-125. Springer.
  18. Rompothong, P. and Senivongse, T. (2003). A query federation of uddi registries. In Proc. 1st international symposium on Information and communication technologies, pages 561-566. Trinity College Dublin.
  19. ROS (2014). Robot operating system.
  20. Thomson, S., Narten, T., and Jinmei, T. (2007). IPv6 Stateless Address Autoconfiguration. RFC 4862.

Paper Citation

in Harvard Style

Chitic S., Ponge J. and Simonin O. (2016). SDfR - Service Discovery for Robots . In Proceedings of the 8th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART, ISBN 978-989-758-172-4, pages 236-243. DOI: 10.5220/0005755202360243

in Bibtex Style

author={Stefan-Gabriel Chitic and Julien Ponge and Olivier Simonin},
title={SDfR - Service Discovery for Robots},
booktitle={Proceedings of the 8th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,},

in EndNote Style

JO - Proceedings of the 8th International Conference on Agents and Artificial Intelligence - Volume 1: ICAART,
TI - SDfR - Service Discovery for Robots
SN - 978-989-758-172-4
AU - Chitic S.
AU - Ponge J.
AU - Simonin O.
PY - 2016
SP - 236
EP - 243
DO - 10.5220/0005755202360243