Development of a Generic Framework for Multi-robot Systems

Multi-robot System (MRS) is a way to use several homogeneous or heterogeneous robots to execute tasks or missions. The challenge is to put different robots to work together efficiently. This paper presents a new generic opensource framework for cooperative tasks incorporating trajectory planning and real-time implementations. Our initial results show that this framework is able to schedule another robot to complete a task whenever some predictable problem (low battery, robot failure, none available path) happen.