Communication Isolation For Multi-Robot Systems Using ROS2

摘要

This article examines how to design communication isolation in a fleet of robots using the Robot Operating System (ROS 2). A qualitative analysis and comparison of several communication methods is provided, based on various criteria (isolation granularity, isolation strength, network usage, etc.). A specific scenario is implemented for each communication method to demonstrate their feasibility and highlight some of their limitations. Finally, experimental results both simulations and real robots compare five communication strategies, providing guidelines to help select the best method depending on the project's requirements.