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ROS2SWARM : A ROS 2 Package for Swarm Robot Behaviors

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2022

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Begemann, Marian Johannes
Plattenteich, Tavia
Schilling, Lars
Schildbach, Georg

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https://doi.org/10.1109/ICRA46639.2022.9812417
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PAPPAS, George J., ed., Vijay KUMAR, ed.. 2022 International Conference on Robotics and Automation (ICRA). Piscataway, NJ: IEEE, 2022, pp. 6875-6881. ISBN 978-1-72819-681-7. Available under: doi: 10.1109/ICRA46639.2022.9812417

Zusammenfassung

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.

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004 Informatik

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ICRA : IEEE International Conference on Robotics and Automation 2022, 23. Mai 2022 - 27. Mai 2022, Philadelphia, USA
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ISO 690KAISER, Tanja Katharina, Marian Johannes BEGEMANN, Tavia PLATTENTEICH, Lars SCHILLING, Georg SCHILDBACH, Heiko HAMANN, 2022. ROS2SWARM : A ROS 2 Package for Swarm Robot Behaviors. ICRA : IEEE International Conference on Robotics and Automation 2022. Philadelphia, USA, 23. Mai 2022 - 27. Mai 2022. In: PAPPAS, George J., ed., Vijay KUMAR, ed.. 2022 International Conference on Robotics and Automation (ICRA). Piscataway, NJ: IEEE, 2022, pp. 6875-6881. ISBN 978-1-72819-681-7. Available under: doi: 10.1109/ICRA46639.2022.9812417
BibTex
@inproceedings{Kaiser2022ROS2S-59704,
  year={2022},
  doi={10.1109/ICRA46639.2022.9812417},
  title={ROS2SWARM : A ROS 2 Package for Swarm Robot Behaviors},
  isbn={978-1-72819-681-7},
  publisher={IEEE},
  address={Piscataway, NJ},
  booktitle={2022 International Conference on Robotics and Automation (ICRA)},
  pages={6875--6881},
  editor={Pappas, George J. and Kumar, Vijay},
  author={Kaiser, Tanja Katharina and Begemann, Marian Johannes and Plattenteich, Tavia and Schilling, Lars and Schildbach, Georg and Hamann, Heiko}
}
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