DeepAI
Log In Sign Up

ChoiRbot: A ROS 2 Toolbox for Cooperative Robotics

10/26/2020
by   Andrea Testa, et al.
0

In this paper, 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.

READ FULL TEXT

page 8

page 10

11/06/2019

DISROPT: a Python Framework for Distributed Optimization

In this paper we introduce DISROPT, a Python package for distributed opt...
08/14/2021

Distributed Control of Truss Robots Using Consensus Alternating Direction Method of Multipliers

Truss robots, or robots that consist of extensible links connected at un...
06/09/2022

Linear Delta Arrays for Compliant Dexterous Distributed Manipulation

This paper presents a new type of distributed dexterous manipulator: del...
01/08/2022

Message Expiration-Based Distributed Multi-Robot Task Management

Distributed task assignment for multiple agents raises fundamental and n...
11/19/2018

A Survey on Blockchain Technology and Its Potential Applications in Distributed Control and Cooperative Robots

As a disruptive technology, blockchain, particularly its original form o...
02/07/2022

A Robot Web for Distributed Many-Device Localisation

We show that a distributed network of robots or other devices which make...