A ROSPlan-Based Multi-Robot Navigation System

Abstract

Multi-robot systems is a growing research field in robotics and artificial intelligence. Applying multiple robots on single robot systems, generally increase the execution robustness while minimizing its time. Besides this, if the execution requires joint or cooperative actions there isn't better option. This paper proposes a multi-robot version of RosPlan, which that is a framework for embedding a generic task planner in a ROS system. The main contributions include a new method to dispatch the actions; a system to ensure that each robot execute only its actions and a new ROS Package for multi-robot navigation.