2000 character limit reached
ROS2swarm - A ROS 2 Package for Swarm Robot Behaviors (2405.02438v1)
Published 3 May 2024 in cs.RO and cs.MA
Abstract: Developing reusable software for mobile robots is still challenging. Even more so for swarm robots, despite the desired simplicity of the robot controllers. Prototyping and experimenting are difficult due to the multi-robot setting and often require robot-robot communication. Also, the diversity of swarm robot hardware platforms increases the need for hardware-independent software concepts. The main advantages of the commonly used robot software architecture ROS 2 are modularity and platform independence. We propose a new ROS 2 package, ROS2swarm, for applications of swarm robotics that provides a library of ready-to-use swarm behavioral primitives. We show the successful application of our approach on three different platforms, the TurtleBot3 Burger, the TurtleBot3 Waffle Pi, and the Jackal UGV, and with a set of different behavioral primitives, such as aggregation, dispersion, and collective decision-making. The proposed approach is easy to maintain, extendable, and has good potential for simplifying swarm robotics experiments in future applications.
- I. A. D. Nesnas, R. Simmons, D. Gaines, C. Kunz, A. Diaz-Calderon, T. Estlin, R. Madison, J. Guineau, M. McHenry, I.-H. Shu, and D. Apfelbaum, “CLARAty: Challenges and steps toward reusable robotic software,” International Journal of Advanced Robotic Systems, vol. 3, no. 1, p. 5, 2006.
- C. Pinciroli and G. Beltrame, “Buzz: a programming language for robot swarms,” IEEE Software, vol. 33, no. 4, pp. 97–100, 2016.
- M. Quigley, J. Faust, T. Foote, and J. Leibs, “ROS: an open-source Robot Operating System,” in ICRA workshop on open source software, vol. 3, no. 3.2. Kobe, Japan, 2009, p. 5.
- M. Dorigo, G. Theraulaz, and V. Trianni, “Swarm robotics: Past, present, and future [point of view],” Proceedings of the IEEE, vol. 109, no. 7, pp. 1152–1165, 2021.
- Y. Maruyama, S. Kato, and T. Azumi, “Exploring the performance of ROS2,” in 2016 International Conference on Embedded Software (EMSOFT), 2016, pp. 1–10.
- A. Barciś, M. Barciś, and C. Bettstetter, “Robots that Sync and Swarm: A proof of concept in ROS 2,” in 2019 International Symposium on Multi-Robot and Multi-Agent Systems (MRS), 2019, pp. 98–104.
- A. Barciś and C. Bettstetter, “Sandsbots: Robots that sync and swarm,” IEEE Access, vol. 8, pp. 218 752–218 764, 2020.
- A. Testa, A. Camisa, and G. Notarstefano, “ChoiRbot: A ROS 2 toolbox for cooperative robotics,” IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2714–2720, 2021.
- J. P. Queralta, Y. Xianjia, L. Qingqing, and T. Westerlund, “Towards large-scale scalable MAV swarms with ROS2 and UWB-based situated communication.”
- T. De Wolf and T. Holvoet, “Design patterns for decentralised coordination in self-organising emergent systems,” in Proceedings of the 4th International Conference on Engineering Self-Organising Systems, ser. ESOA’06. Berlin, Heidelberg: Springer-Verlag, 2006, p. 28–49.
- J. L. Fernandez-Marquez, G. Di Marzo Serugendo, S. Montagna, M. Viroli, and J. L. Arcos, “Description and composition of bio-inspired design patterns: a complete overview,” Natural Computing, vol. 12, no. 1, pp. 43–67, Mar. 2013.
- L. Pitonakova, R. Crowder, and S. Bullock, “Information exchange design patterns for robot swarm foraging and their application in robot control algorithms,” Frontiers in Robotics and AI, vol. 5, p. 47, 2018.
- D. St-Onge, V. S. Varadharajan, I. Švogor, and G. Beltrame, “From design to deployment: Decentralized coordination of heterogeneous robotic teams,” Frontiers in Robotics and AI, vol. 7, p. 51, 2020.
- C. Xuefeng, C. Zhongxuan, W. Yanzhen, and Y. Xiaodong, “micros_swarm_framework - ROS Wiki,” 2019. [Online]. Available: https://wiki.ros.org/micros˙swarm˙framework
- K. Morris, G. Arpino, S. Nagavalli, and K. Sycara, “Full stack swarm architecture,” RISS Working Papers Journal, 2018.
- C.-E. Hrabia, T. K. Kaiser, and S. Albayrak, “Combining self-organisation with decision-making and planning,” in Multi-Agent Systems and Agreement Technologies, F. Belardinelli and E. Argente, Eds. Cham: Springer International Publishing, 2018, pp. 385–399.
- V. C. Kalempa, M. A. S. Teixeira, A. S. de Oliveira, and J. A. Fabro, “Intelligent dynamic formation of the multi-robot systems to cleaning tasks in unstructured environments and with a single perception system,” in 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), Nov 2018, pp. 71–76.
- Y. Liu, A. Ali, and G. Dare, “swarm_robot_ros_sim,” 2020. [Online]. Available: https://github.com/yangliu28/swarm˙robot˙ros˙sim
- Gazebo, “Gazebo,” 2020. [Online]. Available: http://gazebosim.org/
- C. Moeslinger, T. Schmickl, and K. Crailsheim, “A minimalist flocking algorithm for swarm robots,” in Advances in Artificial Life. Darwin Meets von Neumann, G. Kampis, I. Karsai, and E. Szathmáry, Eds. Berlin, Heidelberg: Springer Berlin Heidelberg, 2011, pp. 375–382.
- G. Valentini, E. Ferrante, H. Hamann, and M. Dorigo, “Collective decision with 100 Kilobots: Speed vs accuracy in binary discrimination problems,” Journal of Autonomous Agents and Multi-Agent Systems, vol. 30, no. 3, pp. 553–580, 2016.
- G. Valentini, E. Ferrante, and M. Dorigo, “The best-of-n problem in robot swarms: Formalization, state of the art, and novel perspectives,” Frontiers in Robotics and AI, vol. 4, p. 9, 2017.
- D. Thomas, E. Fernandez, and W. Woodall, “State of ROS 2 - demos and the technology behind,” in ROSCon Hamburg 2015. Open Robotics, September 2015. [Online]. Available: https://doi.org/10.36288/ROSCon2015-900743
- F. Arvin, K. Samsudin, and A. R. Ramli, “A short-range infrared communication for swarm mobile robots,” in 2009 International Conference on Signal Processing Systems, 2009, pp. 454–458.
- L. Wang, A. D. Ames, and M. Egerstedt, “Safety barrier certificates for collisions-free multirobot systems,” IEEE Transactions on Robotics, vol. 33, no. 3, pp. 661–674, 2017.
- C. Steup, S. Parlow, S. Mai, and S. Mostaghim, “Generic component-based mission-centric energy model for micro-scale unmanned aerial vehicles,” Drones, vol. 4, no. 4, p. 63, 2020.