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  • Service discovery

    The service discovery and publish/subscribe data service remove the need for fixed network topologies since each node dynamically tracks system capabilities and uses the reconfigurable meshed networking to maintain data delivery even when individual links change.

    To define services, a description language was needed. Most of the existing languages require XML, have too extensive of a library, or do not allow for the proper definition of robot-based services. The entire service discovery protocol is based on "Interface" objects registering their capabilites with the "Data Distribution" object. To read more about this process refer to "application layer networking."

    Capabilities Message Structure


    Appendix -- Notes on Other Protocols