The ROS Multimaster Extension for Simplified Deployment of Multi-Robot Systems

Tiderko, Alexander; Hoeller, Frank; Röhling, Timo

doi:10.1007/978-3-319-26054-9_24

Cited by 38 publications

(25 citation statements)

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“…Polling solutions are not feasible for low-level remote control (as teleoperation) [16] Based on the use of SpaceBrew It is not clear if visibility among agents is requested or managed by SpaceBrew. Some limitations are presented in the paper but not discussed [18] Communication based on a proxy virtual machine Listed results are limited to one robot [19] Based on three subsystems in the cloud environment: middleware subsystem, background tasks subsystem, and control subsystem Built upon the ROS Multimaster FKIE [20], which requires bi-directional visibility among all the agents in the system [21] Based on WebSocket protocol to guarantee the bi-directionality of the flow of data Visibility requirements between the agents not detailed. Still limited in an early developer program [10] New protocol, similar to rosbridge protocol Tests limited to few simulated robots…”

Section: Features Of the System Used Limitation Of The Presented Workmentioning

confidence: 99%

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A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

2020

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The cloud robotics paradigm aims at enhancing the abilities of robots by using cloud services, but it still poses several challenges in the research community. Most of the current literature focuses on how to enrich specific robotic capabilities, overlooking how to effectively establish communication between the two fields. Our work proposes a "plug-and-play" solution to bridge the communication gap between cloud and robotic applications. The proposed solution is designed based on the mature WebSocket technology and it can be extended to any ROS-based robotic platform. The main contributions of this work are the definition of a reliable autoconnection/autoconfiguration mechanism as well as to outline a scalable communication layer that allows the effective control of multiple robots from multiple users. The "plug-and-play" solution was evaluated in both simulated and real scenarios. In the first case, the presence of users and robots was simulated with Robot Operating System (ROS) nodes running on five machines. In the real scenario, three non-expert users teleoperated, simultaneously, three remote robots by using the proposed communication layer with different networking protocols. Results confirmed the reliability at different levels: at startup (success_rate = 100%); during high-rate communications (message_lost = 0%); in performing open-loop spiral trajectories with enhancement, with respect to similar works; and in the quality of simultaneous teleoperations.

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Section: Features Of the System Used Limitation Of The Presented Workmentioning

confidence: 99%

“…Bi-directional communications are presented in the paper, but it is not detailed how these are achieved. Furthermore, the proposed architecture is built upon the ROS Multimaster FKIE [20], which requires bi-directional visibility among all the agents in the system.…”

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confidence: 99%

A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

2020

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“…Al igual que el resto de plataformas robóticas asegura el soporte y gestión de elementos hardware heterogéneos (R1), pero no integra las características sociales dentro de la arquitectura. En el caso concreto de ROS, existen paquetes externos (ROS multimaster [11]) que permiten comunicar diferentes elementos robóticos que empleen este marco, dotando al sistema de ciertas capacidades sociales y autónomas (R2, R3).…”

Section: Marcos Robóticosunclassified

Integración de plataformas robóticas y multiagente en sistemas de fabricación

Fortes¹,

Armentia²,

Gangoiti³

et al. 2020

Actas De Las XXXIX Jornadas De Automática, Badajoz, 5-7 De Septiembre De 2018

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ResumenEn los últimos años se ha producido una evolución de los sectores industriales para adaptarse a los importantes cambios en la demanda de productos: mayor personalización, mayor calidad, menor precio y menor tiempo de proceso productivo. Es por ello que las explotaciones modernas demandan un sistema de control cómodo, flexible y descentralizado. En este contexto, los sistemas de transporte se presentan como un factor determinante para poder llevar a cabo la reconfiguración de estos sistemas. Sin embargo, los marcos robóticos empleados para su desarrollo carecen de las capacidades sociales necesarias para que varios robots puedan interactuar. El presente trabajo propone una arquitectura para integrar sistemas robóticos con sistemas multi-agente. Dicha arquitectura no sólo resuelve la interacción entre robots sino que también transforma dichos sistemas de transporte en sistemas de transporte inteligentes dotados con capacidad de toma de decisiones. La arquitectura de integración propuesta se ha probado en un caso de estudio relativo a un sistema de fabricación flexible.Palabras clave: sistemas de transporte inteligente; sistemas de fabricación flexible; JADE; ROS; arquitectura de integración INTRODUCCIÓNA lo largo de los últimos años, el sector secundario, en general, y la tecnología, en particular, han avanzado mucho. Estos cambios no han sido aislados dentro del sector industrial, sino que en parte han sido promovidos por los cambios de la sociedad y el mercado. Esto se puede traducir en términos económicos como el paso de un mercado local y controlado a un mercado completamente globalizado, al que tienen acceso incluso las pequeñas y medianas empresas (PYMEs); ya sea de un modo directo a partir de sus productos, principalmente tecnológicos, o indirecto como proveedores de grandes exportadores.Esta evolución continua ha implicado cambios importantes en la demanda de los productos. Mientras los procesos industriales tradicionales, centralizados y jerárquicos, son rentables para procesos de fabricación estáticos, con redundancias de máquinas ante fallos y lotes de fabricación muy grandes; estos no se adaptan en absoluto a las exigencias actuales de un mercado que pide mayor personalización, mayor calidad, menor precio y menor tiempo en los procesos productivos [10].Para dar solución a esta problemática, los sectores industriales ya hablan desde hace algunos años de la Industria 4.0. Un sistema en el cual un conjunto de elementos heterogéneos (sensores, máquinas, sistemas de TI, etc.) se conectan a la cadena de valor más allá de la propia empresa. Los sistemas se comunican entre sí, recopilando y analizando datos entre máquinas, aumentando su autonomía, la velocidad de los procesos, la flexibilidad y, en definitiva, la eficiencia [6].Aunque la Industria 4.0 contempla la conexión de toda la cadena de valor, los sistemas de integración de los procesos productivos, en sí mismos, proponen dotar a la fábrica de mecanismos para aumentar la sencillez, modularidad y eficiencia, trasladando el control centralizado del ...

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“…The depth integration takes about 100 ms per frame and the patch alignment and fusion takes between 1 and 15 s, but this process is not time critical and is processed in another thread. To facilitate information exchange between the robots, the multi-master node manager system [24] was used. This software shares ROS topics between different computers, with clock synchronization from a common NTP reference.…”

Section: A Platforms Dataset and Map Configurationmentioning

confidence: 99%

Distributed 3D TSDF Manifold Mapping for Multi-Robot Systems

Duhautbout

Moras

Marzat

2019

2019 European Conference on Mobile Robots (ECMR)

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This paper presents a new method to perform collaborative real-time dense 3D mapping in a distributed way for a multi-robot system. This method associates a Truncated Signed Distance Function (TSDF) representation with a manifold structure. Each robot owns a private map which is composed of a collection of local TSDF sub-maps called patches that are locally consistent. This private map can be shared to build a public map collecting all the patches created by the robots of the fleet. In order to maintain consistency in the global map, a mechanism of patch alignment and fusion has been added. This work has been integrated in real-time into a mapping stack, which can be used for autonomous navigation in unknown and cluttered environment. Experimental results on a team of wheeled mobile robots are reported to demonstrate the practical interest of the proposed system, in particular for the exploration of unknown areas.

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The ROS Multimaster Extension for Simplified Deployment of Multi-Robot Systems

Cited by 38 publications

References 0 publications

A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

A Plug and Play Transparent Communication Layer for Cloud Robotics Architectures

Integración de plataformas robóticas y multiagente en sistemas de fabricación

Distributed 3D TSDF Manifold Mapping for Multi-Robot Systems

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