Managing a fleet of autonomous mobile robots (AMR) using cloud robotics platform

Aniruddha Singhal, Prasun Pallav, Nishant Kejriwal, Soumyadeep Choudhury, Swagat Kumar, Rajesh Sinha

Research output: Chapter in Book/Report/Conference proceedingChapter

7 Citations (Scopus)

Abstract

In this paper, we provide details of implementing a system for managing a fleet of autonomous mobile robots (AMR) operating in a factory or a warehouse premise. While the robots are themselves autonomous in its motion and obstacle avoidance capability, the target destination for each robot is provided by a global planner. The global planner and the ground vehicles (robots) constitute a multi agent system (MAS) which communicate with each other over a wireless network. Three different approaches are explored for implementation. The first two approaches make use of the distributed computing based Networked Robotics architecture and communication framework of Robot Operating System (ROS) itself while the third approach uses Rapyuta Cloud Robotics framework for this implementation. The comparative performance of these approaches are analyzed through simulation as well as real world experiment with actual robots. These analyses provide an in-depth understanding of the inner working of the Cloud Robotics Platform in contrast to the usual ROS framework. The insight gained through this exercise will be valuable for students as well as practicing engineers interested in implementing similar systems else where. In the process, we also identify few critical limitations of the current Rapyuta platform and provide suggestions to overcome them.
Original languageEnglish
Title of host publication2017 European Conference on Mobile Robots, ECMR 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Print)9781538610961
DOIs
Publication statusPublished - 6 Nov 2017
Event2017 European Conference on Mobile Robots, ECMR 2017 - Paris, France
Duration: 6 Sep 20178 Sep 2017

Publication series

Name2017 European Conference on Mobile Robots, ECMR 2017

Conference

Conference2017 European Conference on Mobile Robots, ECMR 2017
CountryFrance
CityParis
Period6/09/178/09/17

Keywords

  • Cloud Robotics Platform
  • Fleet Management System
  • MAS
  • Multi-AMR control
  • Rapyuta
  • Robot Operating System

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