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Discovery is typically define in the context of networks. Thus the term “discovery” refers the process through which computers and network devices are able to find each other. It enables network devices over a local network to connect and communicate with other devices. In the context of OMG's DDS, “Discovery” refers to the process by which a DomainParticipant learns about other DomainParticipants, DataWriters, and DataReaders within the same domain by detecting: the presence of new entities in the Domain, that the entities have shut down cleanly, and entities have timed out because of lack of communication.

Sources: https://www.techopedia.com/definition/29965/network-discovery, https://community.rti.com/glossary/discovery

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