CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments
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 popu...
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| Veröffentlicht in: | IEEE robotics and automation letters 2021-07, Vol.6 (3), p.5064-5071 |
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| container_title | IEEE robotics and automation letters |
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| creator | Ginting, Muhammad Fadhil Otsu, Kyohei Edlund, Jeffrey A. Gao, Jay Agha-Mohammadi, Ali-Akbar |
| description | 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. |
| doi_str_mv | 10.1109/LRA.2021.3061393 |
| format | Article |
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| subjects | Best practice Bridges Circuits Collaboration Communication Communication systems Communications systems Extreme environments field robots Middleware Multi-robot systems Multiple robots Networked robots Quality of service Reliability Robotics Robots |
| title | CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments |
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