ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics

In this letter, we introduce ChoiRbot , a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in simulation or experimentally, with a particular focus on...

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Vydané v:IEEE robotics and automation letters Ročník 6; číslo 2; s. 2714 - 2720
Hlavní autori: Testa, Andrea, Camisa, Andrea, Notarstefano, Giuseppe
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Piscataway IEEE 01.04.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:
Computer architecture
Decentralized control
Distributed robot systems
Modular structures
Multiple robots
Optimal control
Optimization
optimization and optimal control
Predictive control
Python
Robot kinematics
Robotics
Robots
software architecture for robotic and automation
Task analysis
Task complexity
ISSN:2377-3766, 2377-3766
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Popis
Shrnutí:In this letter, we introduce ChoiRbot , a toolbox for distributed cooperative robotics based on the novel Robot Operating System (ROS) 2. ChoiRbot provides a fully-functional toolset to execute complex distributed multi-robot tasks, either in simulation or experimentally, with a particular focus on networks of heterogeneous robots without a central coordinator. Thanks to its modular structure, ChoiRbot allows for a highly straight implementation of optimization-based distributed control schemes, such as distributed optimal control, model predictive control, task assignment, in which local computation and communication with neighboring robots are alternated. To this end, the toolbox provides functionalities for the solution of distributed optimization problems. The package can be also used to implement distributed feedback laws that do not need optimization features but do require the exchange of information among robots. The potential of the toolbox is illustrated with simulations and experiments on distributed robotics scenarios with mobile ground robots. The ChoiRbot toolbox is available at https://github.com/OPT4SMART/choirbot .
Bibliografia:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:2377-3766
2377-3766
DOI:10.1109/LRA.2021.3061366