- Setup
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- Multi-robot Guidelines
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- Relevant Literature in Multi-robot Exploration
- Contributing
I'm going to continue using this repository as a testbed, or the name say 'Sandbox', to validade some ideas for multi-robot coordination and control. However, I'm also working in a ROS 2 version integrated with SLAM-ToolBox and Nav2 at: https://github.com/multirobotplayground/Jazzy-Multi-Robot-Sandbox.
This workspace is a sandbox for multi-robot research.
Initially, it includes a fully opperational multi-robot exploration stack for ROS Noetic and Ubuntu 20.04 that allows them to keep intermittent communication in Gazebo 11 simulations. It contains an implementation and integration of the structures from this research: https://arxiv.org/abs/2309.13494.
The deployment features components highlighted in red in the diagram, allowing robots to explore and maintain intermittent connectivity through a rendezvous plan. Communication is facilitated through topics with a mock communication model.
Fully opperational multi-robot exploration with communication constraints to accelerate your research and development.
Complex stack integrated with customized nodes for ROS Noetic, with SLAM, map stitching, trajectory optimization, global and local planning, and more, to simulate a realistic multi-robot exploration application with communication constraints, visualization, and configurations for Gazebo 11 and rviz.
Intermittent Communication Policy to share information at rendezvous locations spread dynamically while exploration happens.
This workspace is not based on the move_base and the nav stack for navigation, because they had many drawbacks when I first tried to used them for multi-robot exploration research. Therefore, this project contains its own sub-goal navigation node with global and local planners to handle situations posed by multi-robot exploration applications when robots do SLAM individually, have to deal with traffic, and share maps. Furthermore, I'm currently refactoring all nodes to make them more friendly with ROS 2 standards.
The roadmap for this project was superseeded by its ROS 2 version at: https://github.com/multirobotplayground/Jazzy-Multi-Robot-Sandbox.
If this workspace is somehow useful to you, consider mentioning this paper accepted on IROS.
A. R. da Silva, L. Chaimowicz, T. C. Silva, and A. Hsieh, Communication-Constrained Multi-Robot Exploration with Intermittent Rendezvous. 2024.
@misc{dasilva2024communicationconstrained,
title={Communication-Constrained Multi-Robot Exploration with Intermittent Rendezvous},
author={Alysson Ribeiro da Silva and Luiz Chaimowicz and Thales Costa Silva and Ani Hsieh},
year={2024},
eprint={2309.13494},
archivePrefix={arXiv},
primaryClass={cs.RO}
}
The research paper https://arxiv.org/abs/2309.13494 was supported by CAPES, FAPEMIG, CNPQ, and ARL DCIST CRA W911NF-17-2-0181.
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