Robofleet: Open Source Communication and Management for Fleets of Autonomous Robots
Kavan Singh Sikand, Logan Zartman, Sadegh Rabiee, Joydeep Biswas

TL;DR
Robofleet is an open-source, lightweight communication system for fleets of ROS-enabled robots that enhances resilience to network issues and provides security and remote management features.
Contribution
Robofleet introduces a centralized, secure, and adaptive communication architecture that outperforms existing solutions in challenging network conditions.
Findings
Reduces network load via deduplication
Ensures reliable message delivery under poor network conditions
Provides secure multi-user, multi-robot communication
Abstract
Long-term deployment of a fleet of mobile robots requires reliable and secure two-way communication channels between individual robots and remote human operators for supervision and tasking. Existing open-source solutions to this problem degrade in performance in challenging real-world situations such as intermittent and low-bandwidth connectivity, do not provide security control options, and can be computationally expensive on hardware-constrained mobile robot platforms. In this paper, we present Robofleet, a lightweight open-source system which provides inter-robot communication, remote monitoring, and remote tasking for a fleet of ROS-enabled service-mobile robots that is designed with the practical goals of resilience to network variance and security control in mind. Robofleet supports multi-user, multi-robot communication via a central server. This architecture deduplicates…
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Taxonomy
TopicsRobotics and Automated Systems · IoT and Edge/Fog Computing · Opportunistic and Delay-Tolerant Networks
