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Using ROS in Multi-robot Systems: Experiences and Lessons Learned from Real-World Field Tests

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Robot Operating System (ROS)

Part of the book series: Studies in Computational Intelligence ((SCI,volume 707))

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.

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Notes

  1. 1.

    http://multirobotsystems.org/.

  2. 2.

    http://www.sei.cmu.edu/architecture/.

  3. 3.

    http://wiki.ros.org/multimaster_experimental.

  4. 4.

    http://wiki.ros.org/multimaster.

  5. 5.

    http://wiki.ros.org/socrob_multicast.

  6. 6.

    http://wiki.ros.org/wifi_comm.

  7. 7.

    http://wiki.ros.org/adhoc_communication.

  8. 8.

    http://wiki.ros.org/multimaster_fkie.

  9. 9.

    http://wiki.ros.org/rocon_multimaster.

  10. 10.

    http://wiki.ros.org/ardrone_autonomy.

  11. 11.

    http://wiki.ros.org/asctec_drivers.

  12. 12.

    http://wiki.ros.org/arni.

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Authors and Affiliations

  1. Centro De Automática y Robótica, UPM-CSIC, Calle José Gutiérrez Abascal, 2, 28006, Madrid, Spain

    Mario Garzón, João Valente, Juan Jesús Roldán, David Garzón-Ramos, Jorge de León, Antonio Barrientos & Jaime del Cerro

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  1. Mario Garzón
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  2. João Valente
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  3. Juan Jesús Roldán
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  4. David Garzón-Ramos
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  5. Jorge de León
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  6. Antonio Barrientos
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  7. Jaime del Cerro
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Correspondence to Mario Garzón .

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Editors and Affiliations

  1. College of CS & Informat Systems, Prince Sultan University College of CS & Informat Systems, Riyadh, Saudi Arabia

    Anis Koubaa

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Garzón, M. et al. (2017). Using ROS in Multi-robot Systems: Experiences and Lessons Learned from Real-World Field Tests. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 707. Springer, Cham. https://doi.org/10.1007/978-3-319-54927-9_14

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  • DOI: https://doi.org/10.1007/978-3-319-54927-9_14

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  • Online ISBN: 978-3-319-54927-9

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