Name
Title | ||
|---|---|---|
Chord: Distributed Data-Sharing Via Hybrid Ros 1 And 2 For Multi-Robot Exploration Of Large-Scale Complex Environments |
Abstract | ||
|---|---|---|
A well-structured and reliable communication system is key to the successful operations of multi-robot systems. In this letter, we present our design and implementation of a multi-robot communication architecture CHORD (Collaborative High-bandwidth Operations with Radio Droppables) based on two popular robotics middleware, ROS 1 and ROS 2. We discuss the benefit and best practices of combining two different frameworks that share the same spirit and show its performance from large-scale real-world experiments. The proposed system is developed as part of Team CoSTAR's effort for the DARPA Subterranean (SubT) Challenge. The system has been field-proved and demonstrated in the Urban Circuit event, where team CoSTAR won first place. To our knowledge, this work is the first real-world demonstration of a ROS 2-based multi-robot system in such large-scale extreme environments. From the significant improvement of the communication performance and the ease of transition from existing ROS 1 systems, this work encourages wider adoption of ROS 2 in field robotics applications. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/LRA.2021.3061393 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | DocType | Volume |
Networked robots, multi-robot systems, field robots | Journal | 6 |
Issue | ISSN | Citations |
3 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 0 | 5 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Muhammad Fadhil Ginting | 1 | 0 | 0.68 |
| Kyohei Otsu | 2 | 4 | 3.80 |
| Jeffrey Edlund | 3 | 0 | 0.34 |
| Jay Gao | 4 | 0 | 0.34 |
| Ali-akbar Agha-mohammadi | 5 | 2 | 1.06 |