Using ROS in multi-robot systems

Garzon Oviedo, M.A.; Valente, João; Roldán, Juan Jesús; Garzón-Ramos, David; de León, Jorge; Barrientos, Antonio; del Cerro, Jaime

Using ROS in multi-robot systems

Experiences and lessons learned from real-world field tests

Book chapter (2017)

Authors

M.A. Garzon Oviedo UPM-CSIC

João Valente UPM-CSIC

Juan Jesús Roldán UPM-CSIC

David Garzón-Ramos UPM-CSIC

Jorge de León UPM-CSIC

Antonio Barrientos UPM-CSIC

Jaime del Cerro UPM-CSIC

Affiliation

External organisation

Multi-robot systems Field robotics Robot cooperation ROS for multi-robot systems

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Published Date

2017

Language

English

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Affiliation

External organisation

Abstract

This chapter presents a series of experiences and lessons learned during several implementations and real-world tests of ROS-based Multi-Robot Systems. It also describes, analyses and compares several ROS components relevant for these applications, taking into account the scenarios where they can be used. Also, some general issues of importance of Multi-Robot Systems on real-world, such as software and communications architectures, types of information shared are described in detail. Finally, the difficulties and specific challenges that arose when using a Multi-Robot Systems for any application will be discussed.