This paper presents the design and implementation of a collaborative multi-robot system based on ROS. The goal is to manipulate objects with multiple cobots simultaneously by following commands given by a user via gestures. Two methods have been designed, developed, implemented and experimentally evaluated: The first one is based on the ROS package called MoveIt! and focuses mainly on configuration to allow simultaneous control of different cobots. The second method involves the development of a third-party motion planner that sends commands directly to the controllers responsible for executing the cobots’ movements. The Leap Motion, a device that can be used for gesture recognition, is also integrated into the system to enable user interaction in object manipulation. The system has been tested in simulation using Gazebo and evaluated in a real UR10 robot. The main contribution of the proposed architecture is that it solves the problem of controlling multiple robots simultaneously in ROS. In particular, our approach allows simultaneous execution of tasks with different types of controllers, brands and models, as well as direct control of the robots by using the Leap Motion device.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    ROS-Based Multirobot System for Collaborative Interaction


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Iberian Robotics conference ; 2022 ; Zaragoza, Spain November 23, 2022 - November 25, 2022



    Publication date :

    2022-11-19


    Size :

    12 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Multirobot coverage of modular environments

    Mirko Salaris / Alessandro Riva / Francesco Amigoni | BASE | 2020

    Free access

    MULTIROBOT FOR TRANSPORT AND REHABILITATION

    HALADA PAVEL / HALADOVÁ PETRA | European Patent Office | 2018

    Free access

    Force cooperation in a reconfigurable field multirobot system

    Wang, W. / Zhang, H. / Zong, G. et al. | British Library Online Contents | 2008


    Congestion-aware policy synthesis for multirobot systems

    Street, C / Puetz, S / Muehlig, M et al. | BASE | 2022

    Free access

    Spatially targeted communication in decentralized multirobot systems

    Mathews, N. | British Library Online Contents | 2015