Design and describe an application-level protocol to be used in a multi-robot system equipped with multi-sensor. Assume the system has a central agent, which keeps a record of all activities, data and legitimate robots. Your protocol should allow a robot who wants to join the system to be verified using its credential. Once, a robot joins the system, it can exchange collected data among other members in the group. Your protocol should be able to handle cases such as the robot is not recognized in which there is no information about it. Specify your protocol by listing the messages exchanged and the action taken by the robot or the central agent on transmission and receipt of messages. Sketch the operation your protocol for the above case with no errors and with errors, using a diagram similar to that in Figure 1.2. Explicitly state the assumptions made by your protocol about the underlying end-to-end transport service and justify your choice(s). Figure 1.2 A human protocol and a computer network protocol