ROS Integration for Miniature Mobile Robots

  • Andrew WestEmail author
  • Farshad Arvin
  • Horatio Martin
  • Simon Watson
  • Barry Lennox
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10965)


In this paper, the feasibility of using the Robot Operating System (ROS) for controlling miniature size mobile robots was investigated. Open-source and low-cost robots employ limited processors, hence running ROS on such systems is very challenging. Therefore, we provide a compact, low-cost, and open-source module enabling miniature multi and swarm robotic systems of different sizes and types to be integrated with ROS. To investigate the feasibility of the proposed system, several experiments using a single robot and multi-robots were implemented and the results demonstrated the amenability of the system to be integrated in low-cost and open-source miniature size mobile robots.


Robot Operating System (ROS) Mobile robots Swarm robotics Communication 



This work was supported by the EPSRC Projects (Project No. EP/P01366X/1 and Project No. EP/P018505/1).


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  • Andrew West
    • 1
    Email author
  • Farshad Arvin
    • 1
  • Horatio Martin
    • 1
  • Simon Watson
    • 1
  • Barry Lennox
    • 1
  1. 1.Robotics for Extreme Environments Lab (REEL), School of Electrical and Electronic EngineeringThe University of ManchesterManchesterUK

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