With the continuum growth of Internet connected devices, the scalability of the
protocols used for communication between them is facing a new set of challenges. In
robotics these communications protocols are an essential element, and must be able to
accomplish with the desired communication.
In a context of a multi-‐‑agent platform, the main types of Internet communication
protocols used in robotics, mission planning and task allocation problems will be
revised. It will be defined how to represent a message and how to cope with their
transport between devices in a distributed environment, reviewing all the layers of the
messaging process.
A review of the ROS platform is also presented with the intent of integrating the
already existing communication protocols with the ServRobot, a mobile autonomous
robot, and the DVA, a distributed autonomous surveillance system. This is done with
the objective of assigning missions to ServRobot in a security context
