Abstract
Many applications benefit from the use of multiple robots, but their scalability and applicability are fundamentally limited when relying on a central control station. Getting beyond the centralized approach can increase the complexity of the embedded software, the sensitivity to the network topology, and render the deployment on physical devices tedious and error-prone. This work introduces a software-based solution to cope with these challenges on commercial hardware. We bring together our previous work on Buzz, the swarm-oriented programming language, and the many contributions of the Robotic Operating System (ROS) community into a reliable workflow, from rapid prototyping of decentralized behaviors up to robust field deployment. The Buzz programming language is a hardware independent, domain-specific (swarm-oriented), and composable language. From simulation to the field, a Buzz script can stay unmodified and almost seamlessly applicable to all units of a heterogeneous robotic team. We present the software structure of our solution, and the swarm-oriented paradigms it encompasses. While the design of a new behavior can be achieved on a lightweight simulator, we show how our security mechanisms enhance field deployment robustness. In addition, developers can update their scripts in the field using a safe software release mechanism. Integrating Buzz in ROS, adding safety mechanisms and granting field updates are core contributions essential to swarm robotics deployment: from simulation to the field. We show the applicability of our work with the implementation of two practical decentralized scenarios: a robust generic task allocation strategy and an optimized area coverage algorithm. Both behaviors are explained and tested with simulations, then experimented with heterogeneous ground-and-air robotic teams.
Highlights
The range of applications for multi-robot systems is constantly and rapidly expanding
This paper describes the software infrastructure ROSBuzz for the deployment of coordination behaviors on multi-robot systems
ROSBuzz integrates both the swarm-oriented programming language Buzz and the Robotic Operating System (ROS) ecosystem. It grants the developer of decentralized behaviors with useful swarm programming primitives and a set of essential tools for robust deployment
Summary
The range of applications for multi-robot systems is constantly and rapidly expanding. While Buzz was natively deployed on embedded systems (Kilobots, Zooids, and Kheperas robots), larger robots require integration within a software ecosystem that allows roboticists to interface with different sensors, actuators, and complex algorithms . To address this issue we introduce ROSBuzz, the ROS implementation of the Buzz Virtual Machine (BVM). Both algorithms are assessed in term of robustness to packet loss and scalability in simulation and with real world experiments
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.