Problem
Research questions and friction points this paper is trying to address.
Fleet Management
Autonomous Mobile Robots
Mixed-Reality Environment
Virtualization
ROS 2
VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots
🤖 AI Summary
本文介绍了VirTooS工具包，通过结合ROS 2和Unity引擎解决自主移动机器人团队的虚拟化管理问题，提供现实、可扩展的混合现实实验环境。
📝 Abstract
In this paper, we present VirTooS, a Python/C# toolkit designed to implement fleet-management tasks on teams of Autonomous Mobile Robots (AMRs). VirTooS leverages the Robot Operating System (ROS) 2 and Unity game engine to provide realistic, scalable virtual experiments in a mixed-reality environment. The toolbox allows users to easily generate and customize virtual scenarios for realistic simulations. Virtual and real sensors as, e.g., LiDARs, can be exploited to map and safely navigate in the mixed-reality environment. To enable distributed robotics experiments, we propose a set of tailored routines leveraging the ChoiRbot framework. As a motivating example, we show a set of experiments for task assignment problems in a virtual environment, allowing seamless interaction among real and virtual robots. Moreover, the package comes with a containerized suite to easily deploy it on different machines. The source code will be made publicly available on GitHub.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Fleet Management
Mixed-Reality Environment
Distributed Robotics
ROS 2 - Unity Integration
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