Development of Data Exchange Technology for Autonomous Robots Using a Self-Organizing Overlay Network

There have been formulated operating principles for a self-organizing overlay network TwilightNet with zero configuration, as a basis for data exchange in a group of autonomous robots. The description of the main network components is given, such as packet structure, principles of collecting global network state. Data exchange software, which is supposed to comply with the principles of this network operation, has also been developed. Experimental testing has been conducted for applying the proposed decentralized overlay network to data exchange in multiagent robot systems.