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Anis Koubaa - Robot Operating System (ROS): The Complete Reference (Volume 3)

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Robot Operating System (ROS): The Complete Reference (Volume 3)
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Anis Koubaa
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Springer
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2018
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Building on the successful first and second volumes, this book is the third volume of the Springer book on the Robot Operating System (ROS): The Complete Reference. The Robot Operating System is evolving from year to year with a wealth of new contributed packages and enhanced capabilities. Further, the ROS is being integrated into various robots and systems and is becoming an embedded technology in emerging robotics platforms.

The objective of this third volume is to provide readers with additional and comprehensive coverage of the ROS and an overview of the latest achievements, trends and packages developed with and for it.

Combining tutorials, case studies, and research papers, the book consists of sixteen chapters and is divided into five parts. Part 1 presents multi-robot systems with the ROS. In Part 2, four chapters deal with the development of unmanned aerial systems and their applications. In turn, Part 3 highlights recent work related to navigation, motion planning and control. Part 4 discusses recently contributed ROS packages for security, ROS2, GPU usage, and real-time processing. Lastly, Part 5 deals with new interfaces allowing users to interact with robots.

Taken together, the three volumes of this book offer a valuable reference guide for ROS users, researchers, learners and developers alike. Its breadth of coverage makes it a unique resource.

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Part I
Multi-robot Systems

Springer International Publishing AG, part of Springer Nature 2019

Anis Koubaa (ed.) Robot Operating System (ROS) Studies in Computational Intelligence

A ROS-Based Framework for Simulation and Benchmarking of Multi-robot Patrolling Algorithms

David Portugal 1

(1)

Ingeniarius, Ltd, R. Coronel Veiga Simo, Edifcio CTCV, 3Piso, 3025-307 Coimbra, Portugal

(2)

The Department of Computer, Control, and Management Engineering, Sapienza University of Rome, Via Ariosto 25, Rome, 00185, Italy

(3)

The Department of Computer Science, University of Verona, Strada Le Grazie 15, Ca Vignal 2, Verona, Italy

David Portugal (Corresponding author)

Email:

Luca Iocchi

Email:

Alessandro Farinelli

Email:

Abstract

Experiments with teams of mobile robots in the physical world often represent a challenging task due to the complexity involved. One has to make sure that the robot hardware configuration, the software integration and the interaction with the environment is thoroughly tested so that the deployment of robot teams runs smoothly. This usually requires long preparation time for experiments and takes the focus away from what is essential, i.e. the cooperative task performed by the robots. In this work, we present patrolling_sim , a ROS-based framework for simulation and benchmarking of multi-robot patrolling algorithms. Making use of Stage, a multi-robot simulator, we provide tools for running, comparing, analyzing and integrating new algorithms for multi-robot patrolling. With this framework, roboticists can primarily focus on the specific challenges within robotic collaborative missions, run exhaustive tests in different scenarios and with different team sizes in a fairly realistic environment, and ultimately execute quicker experiments in the real world by mimicking the setting up of simulated experiments.

Keywords

Multi-robot systems Multi-robot patrol Simulation Benchmarking ROS package

David Portugal

completed his Ph.D. degree on Robotics and Multi-Agent Systems at the University of Coimbra in Portugal, in March 2014. His main areas of expertise are cooperative robotics, multi-agent systems, simultaneous localization and mapping, field robotics, human-robot interaction, sensor fusion, metaheuristics, and graph theory. He is currently working as a Senior Researcher at Ingeniarius Ltd. (Portugal), where he has been involved in the STOP R&D technology transfer project on multi-robot patrolling. He has been involved in several local and EU-funded research projects in Robotics and Ambient Assisted Living, such as CHOPIN, TIRAMISU, Social-Robot, CogniWin and GrowMeUp. He has co-authored over 55 research articles included in international journals, conferences and scientific books.

Luca Iocchi

is an Associate Professor at Sapienza University of Rome, Italy. His research activity is focused on methodological, theoretical and practical aspects of artificial intelligence, with applications related to cognitive mobile robots and computer vision systems operating in real environments. His main research interests include cognitive robotics, action planning, multi-robot coordination, robot perception, robot learning, sensor data fusion. He is the author of more than 150 referred papers in journals and conferences in artificial intelligence and robotics, member of the program committee of several related conferences, guest editor for journal special issues and reviewer for many journals in the field. He has coordinated national and international projects and, in particular, he has supervised the development of (teams of) mobile robots and vision systems with cognitive capabilities for applications in dynamic environments, such as RoboCup soccer, RoboCup rescue, RoboCup@Home, multi-robot surveillance, and automatic video-surveillance.

Alessandro Farinelli

is an Associate Professor at University of Verona, Department of Computer Science, since December 2014. His research interests comprise theoretical and practical issues related to the development of Artificial Intelligent Systems applied to robotics. In particular, he focuses on coordination, decentralised optimisation and information integration for Multi-Agent and Multi-Robot systems, control and evaluation of autonomous mobile robots. He was the principal investigator for several national and international research projects in the broad area of Artificial Intelligence for robotic systems. He co-authored more than 80 peer-reviewed scientific contributions in top international journals (such AIJ and JAAMAS) and conferences (such as IJCAI, AAMAS, and AAAI).

Introduction

The field of Robotics has witnessed significant advances recently, and the generalized use of a common middleware for robotic applications, the Robot Operating System (ROS) [], has contributed to this phenomenon. Nowadays, researchers do not reinvent the wheel when developing robotic applications, since they often benefit and build upon the community contributions (algorithms, tools, drivers, etc.) in fundamental tasks such as interfacing with sensors, debugging, localization, etc. This also led roboticists to increasingly make their code available as open source, allowing the community to improve and leverage the existing functionality, thus fostering innovation in the field.

Multi-robot systems (MRS) are a research area within Robotics, in which a set of robots operate in a shared environment in order to accomplish a given task. The applications of MRS are vast and have been documented previously in the literature [].

In this work, we present a ROS-based framework for simulation and benchmarking of MRS. In particular, we focus on multi-robot patrolling (MRP) as a case study. In MRP, a set of mobile robots should coordinate their movements so as to patrol an environment. This is a widely studied and challenging problem for MRS coordination with a wide range of practical application scenarios (see Sect. ).

In more detail, by making use of Stage [], a scalable and fairly realistic multi-robot simulator, we provide tools for running, comparing, analyzing and integrating new algorithms for the coordination of multiple robots performing patrolling missions. Our main goal is to relief researchers from the effort of setting up complex MRS experiments, shifting the focus to the coordination mechanism between robots, enabling exhaustive tests in different scenarios and with different team sizes, and bridging the gap between simulations and real world experiments.

In the next section, we provide the motivation and background behind this work, and in Sect. , we discuss challenges, benefits of using the framework and lessons learned, and finally the chapter ends with conclusions and future work.

Background

Multi-robot systems and related subjects, such as design [] played an important role to foster MRS research.

Patrol is generally defined as the activity of going around or through an area at regular intervals for security purposes [.

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