How to realize multi-robot cooperative behavior in open-rmf? (#346)

Open-RMF Open-RMF General
1

Posted by @YYZ252:

Hello, first of all, thank you for the great work at first!
I want to use rmf to study multi-robot systems.
Open-rmf does not seem to provide tasks to realize multi-robot cooperative behaviors.
For example, multiple robots cleaning the same area, or two robots carry a heavy object at the same time.
Is it possible to use rmf’s existing mechanisms in python scripts to implement the above requirements?
Thanks a lot for any advice!

2

Posted by @Yadunund:

Hi there!

Multi-robot cooperative behaviors as you describe it is not yet supported out of the box. It’s something we are interested to work on as well but not high enough on the priority list. If you or other have resources to commit towards this development, we are happy to provide implementation guidelines.

3

Posted by @YYZ252:

Thank for your reply!
I’m a beginner and not very professional about ROS, but I’m interested in the field of multi-robot cooperative behaviors.
I want to know is it difficult for a newbie to implement a very primitive version of this in RMF?
Such as two robots cleanig in a same room(regardless of the collision or the way they work together for the time being),
or one robot carries an object and the other one moves parrallel with it.
I want to try to do this by following the original examples of the tasks in RMF(for example:“clean”, “loop”, “delivery”), or just use a combination of existing tasks.
Can you give me some advice? Thank you very much!