Poster: A Light Weight Service Discovery Mechanism in Robot Systems

Abstract

Benefiting from the major breakthrough of AI technology and increasing application of AIoT (AI + IoT), the intelligent robot system achieves high developing speed in recent years. As a core component of the intelligent system, service discovery plays a crucial role in system reliability. Because of the high CPU usages in conventional service discovery, a light weight service discovery mechanism is required in such a resourcelimited robot system. To improve the efficiency of CPU usages, we propose a weak centralized mechanism and a socket based notification mechanism, to reduce the amount of event in service discovery. The evaluation results show that our proposed light weight service discovery mechanism can reduce 95% CPU usages in average, compared with the conventional service discovery used in ROS2, which is an industry standard in robot systems.