ROS in the MOnarCH Project: A Case Study in Networked Robot Systems

  • João Messias
  • Rodrigo VenturaEmail author
  • Pedro Lima
  • João Sequeira
Part of the Studies in Computational Intelligence book series (SCI, volume 625)


Networked Robot Systems (NRS) have a wide range of potential real-world applications. However, these systems have functional requirements that lie outside of those considered in the typical use cases of ROS. This chapter describes the use of ROS in the context of the ongoing MOnarCH FP7 project on social robotics. We describe the software architecture used in the MOnarCH NRS, focusing on the decentralized information sharing framework we developed called Situational Awareness Module (SAM), and present some of the current results of our project that showcase the applicability of our ROS packages in real-world environments.


Networked Robot Systems Social robots Multi-master Sensor fusion 


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Copyright information

© Springer International Publishing Switzerland 2016

Authors and Affiliations

  • João Messias
    • 1
  • Rodrigo Ventura
    • 1
    Email author
  • Pedro Lima
    • 1
  • João Sequeira
    • 1
  1. 1.Institute for Systems and RoboticsInstituto Superior Técnico, Universidade de LisboaLisbonPortugal

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