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Google Summer of Code 2020: Robotics Middleware Framework (RMF)

My name is Jiarong Qian, a graduate student at the University of Washington major in Electrical Engineering. during the past summer, I have been working on Robotics Middleware Framework (RMF) as part of the Google Summer of Code program.

Robotics Middleware Framework

RMF is a framework that enables cooperation across different robot fleets, doors, and lifts. It handles task queuing, scheduling, and conflict management. More information can be found here. The 3D map used in the demo scenario was edited using traffic editor.

Project Summary

To Do

  • Improve the route planning algorithm in rmf_core to support complex maps. Currently, the hotel demo cannot run fully due to the high memory consumption in route planning.
  • Add more robot fleets to the demo so that the tasks can be divided more reasonably.
  • Improve the object detection and avoidance of the robots so that they do not enter deadlock when the hallway is narrow.