Notification mechanism in robots-resources system

For low cost robots with poor ability, seeking help from surrounding recourses is a promising way to empower them. However, the highly dynamic character of the robots-resources system has a severe impact on robot's performance in utilizing the resources. Therefore, a universal mechanism to have various dynamic elements detected inline and have robot informed in time is needed in this system. In this paper, different kinds of notification mechanisms are analyzed in detail, along with introduction of available technologies. Among them, the standard WS-Notification specification is complied to build a notification mechanism as an attempt, and is tested to be feasible and effective through an example.