Multi Robot Route Planning for ROS2

Reicher, Matthias; Bader, Markus

doi:10.34749/3061-0710.2025.19

Record link:

http://hdl.handle.net/20.500.12708/217154

Title:

Citation:

Reicher, M., & Bader, M. (2025). Multi Robot Route Planning for ROS2. In W. Kubinger, S. Kranzer, & M. Vincze (Eds.), Proceedings of the Austrian Robotics Workshop 2025 (pp. 115–116). Gesellschaft für Messtechnik, Automatisierung und Robotik – GMAR und Automatisierungs- und Regelungstechnik Institut der TU Wien. https://doi.org/10.34749/3061-0710.2025.19

CatalogPlus:

AC17590468

Publisher DOI:

10.34749/3061-0710.2025.19

Publication Type:

Inproceedings - Full-Paper Contribution

Language:

English

Authors:

Reicher, Matthias
Bader, Markus

Organisational Unit:

E191-03 - Forschungsbereich Automation Systems

Published in:

Proceedings of the Austrian Robotics Workshop 2025

DOI of the book:

10.34749/3061-0710.2025

Date (published):

27-May-2025

Event name:

Austrian Robotics Workshop 2025 (ARW 2025)

Event date:

7-May-2025 - 9-May-2025

Event place:

Puch, Austria

Number of Pages:

Publisher:

Gesellschaft für Messtechnik, Automatisierung und Robotik – GMAR und Automatisierungs- und Regelungstechnik Institut der TU Wien, Wien

Peer reviewed:

Yes

Keywords:

multi robot system; path planning; ROS2; Nav2

Abstract:

This work presents the implementation of a Multi robot route planner based on the prioritized planning Approach as well as its integration into ROS2 and the well-known Nav2 stack. Further, a method to increase the resilience towards uncertainty and unpredictability in timing during the execution of found routes is introduced. These so-called routing preconditions are shown to be effective on a subset of routing Scenarios and offer significant opportunity for further exploration.

Project title:

Green Facade Digital Twin: 923138 (FFG - Österr. Forschungsförderungs- gesellschaft mbH)

Research Areas:

Digital Transformation in Manufacturing: 10%
Logic and Computation: 20%
Automation and Robotics: 70%

Science Branch:

1020 - Informatik: 50%
2020 - Elektrotechnik, Elektronik, Informationstechnik: 40%
1010 - Mathematik: 10%

License:

CC BY 4.0