An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2

作     者：Yumbla, Francisco Fajardo-Pruna, Marcelo Piguave, Anthonny Ronquillo, Diego Ortiz, Ricardo Choi, Jongseong Brad Diaz, Gabriel Paneda, Xabiel G. Moon, Hyungpil 

作者机构：Escuela Super Politecn Litoral Espol Fac Ingn Mecan & Ciencias Prod Campus Gustavo Galindo Guayaquil 090902 Ecuador State Univ New York SUNY Korea Dept Mech Engn Incheon 21985 South Korea SUNY Stony Brook Stony Brook Univ Dept Mech Engn Stony Brook NY 11794 USA Spanish Univ Distance Educ UNED Elect Elect & Control Engn Dept Madrid 28040 Spain Univ Oviedo Dept Informat Ingn Telemat Oviedo 33007 Spain Sungkyunkwan Univ Dept Mech Engn Suwon 16419 Gyeonggi Do South Korea 

出 版 物：《IEEE ACCESS》 (IEEE Access)

年 卷 期：2025年第13卷

页      面：16288-16302页

核心收录：

基　　金：Robotics  Automation and Mechatronics Engineering Laboratory (RAMEL)  Ecuador 

主　　题：Robots Robot kinematics Robot sensing systems Sensors Cameras Robot vision systems Navigation Collaboration Computer vision Service robots Collaborative robotics interoperability artificial vision autonomous navigation scalability 

摘      要：Despite the rise of robotics and automation in industrial applications, the widespread adoption of collaborative robotics still needs to be improved due to the lack of interoperability between robots and the low adaptability of existing systems. Solving this problem would mean a significant advance in robotics and industrial automation. Under this context, an open-source MultiRobot Framework based on ROS2 was developed in the present research to effectively communicate and coordinate robotics agents and sensors in closed collaborative environments. A simulation-based control and software design was performed using the GAZEBO tool. A centralized architecture was obtained with an autonomous navigation module for the planning and robot routes monitoring, a computer vision module for the location and management of uncertainties, and a task controller module to assign mobilization mission objects. In conclusion, using ROS2 to communicate and coordinate various mechatronic systems effectively results in a robust, flexible, and scalable solution critical to industrial processes.