An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2
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...
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| Format: | Article |
| Language: | English |
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IEEE
2025-01-01
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| Series: | IEEE Access |
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| Online Access: | https://ieeexplore.ieee.org/document/10843238/ |
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| author | Francisco Yumbla Marcelo Fajardo-Pruna Anthonny Piguave Diego Ronquillo Ricardo Ortiz Jongseong Brad Choi Gabriel Diaz Xabiel G. Paneda Hyungpil Moon |
| author_facet | Francisco Yumbla Marcelo Fajardo-Pruna Anthonny Piguave Diego Ronquillo Ricardo Ortiz Jongseong Brad Choi Gabriel Diaz Xabiel G. Paneda Hyungpil Moon |
| author_sort | Francisco Yumbla |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-97de4501c6bd4e37b0ecfff7405cd70d |
| institution | Kabale University |
| issn | 2169-3536 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj-art-97de4501c6bd4e37b0ecfff7405cd70d2025-01-29T00:00:52ZengIEEEIEEE Access2169-35362025-01-0113162881630210.1109/ACCESS.2025.353039110843238An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2Francisco Yumbla0https://orcid.org/0000-0003-4220-010XMarcelo Fajardo-Pruna1https://orcid.org/0000-0002-5348-4032Anthonny Piguave2https://orcid.org/0009-0007-1666-584XDiego Ronquillo3https://orcid.org/0009-0009-8589-152XRicardo Ortiz4Jongseong Brad Choi5https://orcid.org/0000-0002-6138-8809Gabriel Diaz6https://orcid.org/0000-0001-9246-351XXabiel G. Paneda7https://orcid.org/0000-0001-6381-5459Hyungpil Moon8https://orcid.org/0000-0002-1091-0716Facultad de Ingeniería en Mecánica y Ciencias de la Producción, Escuela Superior Politécnica del Litoral (ESPOL), Campus Gustavo Galindo, Guayaquil, EcuadorFacultad de Ingeniería en Mecánica y Ciencias de la Producción, Escuela Superior Politécnica del Litoral (ESPOL), Campus Gustavo Galindo, Guayaquil, EcuadorFacultad de Ingeniería en Mecánica y Ciencias de la Producción, Escuela Superior Politécnica del Litoral (ESPOL), Campus Gustavo Galindo, Guayaquil, EcuadorFacultad de Ingeniería en Mecánica y Ciencias de la Producción, Escuela Superior Politécnica del Litoral (ESPOL), Campus Gustavo Galindo, Guayaquil, EcuadorDepartment of Mechanical Engineering, The State University of New York (SUNY Korea), Incheon, South KoreaDepartment of Mechanical Engineering, The State University of New York (SUNY Korea), Incheon, South KoreaElectrical, Electronics and Control Engineering Department, Spanish University for Distance Education (UNED), Madrid, SpainDepartamento de Informática, Ingeniería Telemática, Universidad de Oviedo, Oviedo, SpainDepartment of Mechanical Engineering, Sungkyunkwan University, Jangan-gu, Suwon-si, Gyeonggi-do, South KoreaDespite 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.https://ieeexplore.ieee.org/document/10843238/Collaborative roboticsinteroperabilityartificial visionautonomous navigationscalability |
| spellingShingle | Francisco Yumbla Marcelo Fajardo-Pruna Anthonny Piguave Diego Ronquillo Ricardo Ortiz Jongseong Brad Choi Gabriel Diaz Xabiel G. Paneda Hyungpil Moon An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2 IEEE Access Collaborative robotics interoperability artificial vision autonomous navigation scalability |
| title | An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2 |
| title_full | An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2 |
| title_fullStr | An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2 |
| title_full_unstemmed | An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2 |
| title_short | An Open-Source Multi-Robot Framework System for Collaborative Environments Based on ROS2 |
| title_sort | open source multi robot framework system for collaborative environments based on ros2 |
| topic | Collaborative robotics interoperability artificial vision autonomous navigation scalability |
| url | https://ieeexplore.ieee.org/document/10843238/ |
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