Implementation of an IoT Architecture based on MQTT for a Multi-Robot System

Abstract

Multi-Robot systems pose a great area of interest, in order to get benefits from this kind of systems communication and scalability are challenges that have to be surpassed. On the other hand, IoT architectures had shown promise in the connectivity between multiple devices. The present work shows the implementation of an IoT architecture based on MQTT in a Multi-Robot system. Characteristics, navigation and complementary functions of the Multi-Robot system are exposed. Additionally, the IoT architecture elements and functions are described. The test section has focused on evaluating IoT criterions: response time, computational cost, architecture functionality and Multi-Robot capabilities. The results had been satisfactory and shown opportunities in the area of communication and scalability for Multi-Robot systems.