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We present the Robotic Overlay coMmunicAtioN prOtocol (ROMANO), alightweight, application layer overlay communication protocol for a unifiedsensing and control abstraction of a network of heterogeneous robots mainlyconsisting of low power, low-compute-capable robots. ROMANO is built to work inconjunction with the well-known MQ Telemetry Transport for Sensor Nodes(MQTT-SN) protocol, a lightweight publish-subscribe communication protocol forthe Internet of Things and makes use its concept of "topics" to designate theaddition and deletion of communication endpoints by changing the subscriptionsof topics at each device. We also develop a portable implementation of ROMANOfor low power IEEE 802.15.4 (Zigbee) radios and deployed it on a small testbedof commercially available, low-power, and low-compute-capable robots calledPololu 3pi robots. Based on a thorough analysis of the protocol on the realtestbed, as a measure of throughput, we demonstrate that ROMANO can guaranteemore than a $99.5\%$ message delivery ratio for a message generation rate up to200 messages per second. The single hop delays in ROMANO are as low as 20mswith linear dependency on the number of robots connected. These delay numbersconcur with typical delays in 802.15.4 networks and suggest that ROMANO doesnot introduce additional delays. Lastly, we implement four differentmulti-robot applications to demonstrate the scalability, adaptability, ease ofintegration, and reliability of ROMANO.

ROMANO: A Novel Overlay Lightweight Communication Protocol for Unified Control and Sensing of a Network of Robots