Using ROS in Multi-robot Systems: Experiences and Lessons Learned from Real-World Field Tests

Garzón, Mario; Valente, João; Roldán, Juan Jesús; Ramos, David Garzón; León, J. de la Fuente; Barrientos, Antonio; Cerro, Jaime del

doi:10.1007/978-3-319-54927-9_14

Cited by 13 publications

(11 citation statements)

References 32 publications

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“…These simulators tend to be provided only with direct flight of the quadcopter. This basic control is implented through the usual quadcopter joystick controllers without any other control implementation or access to the internal states of the quadcopter [14].…”

Section: Related Workmentioning

confidence: 99%

An Open Simulation Strategy for Rapid Control Design in Aerial and Maritime Drone Teams: A Comprehensive Tutorial

Velasco

Valente

Blanco

et al. 2020

Drones

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The deployment of robot controllers into the real robotic platform is cumbersome and time consuming, especially when testing scenarios involve several robots or are sites not easily accessible. Besides this, most of the time, testing on the real platforms or real conditions provides little value in the early stages of controller design and prototype, phases where debugging and suitability of the controller are the main objectives. This paper proposes a simulation strategy for developing and testing controllers for Unmanned Aerial and Surface Vehicle coordination and interaction with the environment. The simulation strategy is based on V-REP and Matlab/Simulink which provide a large set of features, modularity and compatibility across platforms. Results show that this approach significantly reduces development and delivery times by providing an off-the-shelf simulation environment and a step-by-step implementation guidelines. The source code to deploy the simulations is available in an open-source repository.

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Section: Related Workmentioning

confidence: 99%

An Open Simulation Strategy for Rapid Control Design in Aerial and Maritime Drone Teams: A Comprehensive Tutorial

Velasco

Valente

Blanco

et al. 2020

Drones

Self Cite

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“…En estas misiones se aplican diferentes configuraciones de flotas y morfologías de robots para adaptarse a diferentes escenarios. Estas flotas se pueden clasificar atendiendo a varios criterios (Garzón et al, 2017):…”

Section: Flotasunclassified

Una revisión de los sistemas multi-robot: desafíos actuales para los operadores y nuevos desarrollos de interfaces

Roldán‐Gómez

Rivas

Garcia-Aunon

et al. 2020

Rev. iberoam. autom. inform. ind.

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<p class="icsmabstract">Los sistemas multi-robot están experimentando un gran desarrollo en los últimos tiempos, ya que mejoran el rendimiento de las misiones actuales y permiten realizar nuevos tipos de misiones. Este artículo analiza el estado del arte de los sistemas multi-robot, abordando un conjunto de temas relevantes: misiones, flotas, operadores, interacción humano-sistema e interfaces. La revisión se centra en los retos relacionados con factores humanos como la carga de trabajo o la conciencia de la situación, así como en las propuestas de interfaces adaptativas e inmersivas para solucionarlos.</p>

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“…search and delivery during rescue missions -aerial robot searches and ground robots could deliver heavy equipment near to the victim). We can define four basic system types in relation to number of cooperating robots [9]: -singular -do not belong to MRS (multi-robot systems), robots working by themselves, the task does not require cooperation, -double -group consists of two robots cooperating with each other, robots are able to perform simple tasks e.g. moving objects, -multi-unit -consisting of a small group of robots, -swarms -consisting of a large group of robots.…”

Section: Robot Cooperation Structuresmentioning

confidence: 99%

“…Alternatively, we could define systems in relation to performance possibilities and morphology [9]: -identical -the same locomotion of all robots inside the group, -homogeneous -all robots have similar locomotion but not always the same, there are small differences in functionalities of each robot. Absence of one robot leads to the situation that the task could not be fully finished, -heterogeneous -different way of locomotion.…”

Section: Robot Cooperation Structuresmentioning

confidence: 99%

Using LabVIEW and ROS for Planning and Coordination of Robot Missions, the Example of ERL Emergency Robots and University Rover Challenge Competitions

Węgierska¹,

Andrzejczak²,

Kujawiński³

et al. 2019

JAMRIS

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The article presents the main functionalities and principles for operating a software for multi-robotic mission coordination developed for competitions ERL Emergency Robots 2017, as well as its adaptation during University Rover Challenge. We have started with an overview of similar software used in commercial applications or developed by other research groups. Then, our solution is thoroughly described, with its user interface made in LabVIEW and the communication layer based on ROS software. Two cases of robotic competitions proved our software to be useful both for planning and for managing the mission. The system supports the operator in teleoperation and during partial autonomy of the robots. It offers reporting on the robots' positions, Points of Interest (POI), tasks status. Reports are generated in KML/KMZ formats, and allow us to replay the mission, and analyze it.

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Using ROS in Multi-robot Systems: Experiences and Lessons Learned from Real-World Field Tests

Cited by 13 publications

References 32 publications

An Open Simulation Strategy for Rapid Control Design in Aerial and Maritime Drone Teams: A Comprehensive Tutorial

An Open Simulation Strategy for Rapid Control Design in Aerial and Maritime Drone Teams: A Comprehensive Tutorial

Una revisión de los sistemas multi-robot: desafíos actuales para los operadores y nuevos desarrollos de interfaces

Using LabVIEW and ROS for Planning and Coordination of Robot Missions, the Example of ERL Emergency Robots and University Rover Challenge Competitions

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