Loading [a11y]/accessibility-menu.js
CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments | IEEE Journals & Magazine | IEEE Xplore
Scheduled Maintenance: On Tuesday, 25 February, IEEE Xplore will undergo scheduled maintenance from 1:00-5:00 PM ET (1800-2200 UTC). During this time, there may be intermittent impact on performance. We apologize for any inconvenience.

CHORD: Distributed Data-Sharing via Hybrid ROS 1 and 2 for Multi-Robot Exploration of Large-Scale Complex Environments


Abstract:

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 o...Show More

Abstract:

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.
Published in: IEEE Robotics and Automation Letters ( Volume: 6, Issue: 3, July 2021)
Page(s): 5064 - 5071
Date of Publication: 26 February 2021

ISSN Information:

Funding Agency:


References

References is not available for this document.