Using ROS in multi-robot systems: Experiences and lessons learned from real-world field tests

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

Research output: Chapter in Book/Conference proceedings/Edited volumeChapterScientificpeer-review

8 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationStudies in Computational Intelligence
PublisherSpringer
Pages449-483
Number of pages35
DOIs
Publication statusPublished - 2017
Externally publishedYes

Publication series

NameStudies in Computational Intelligence
Volume707
ISSN (Print)1860-949X

Keywords

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

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