ROS-Based Multi-Domain Swarm Framework for Fast Prototyping
Year: 2025
Type: article
Abstract: The integration of diverse robotic platforms with varying payload capacities is a critical challenge in swarm robotics and autonomous systems. This paper presents a robust, modular framework designed to manage and coordinate heterogeneous swarms of autonomous vehicles, including terrestrial, aerial, and aquatic platforms. Built on the Robot Operating System (ROS) and integrated with C++ and ArduPilot, the framework enables real-time communication, autonomous decision-making, and mission execution across multi-domain environments. Its modular design supports seamless scalability and interoperability, making it adaptable to a wide range of applications. The proposed framework was evaluated through simulations and real-world experiments, demonstrating its capabilities in collision avoidance, dynamic mission planning, and autonomous target reallocation. Experimental results highlight the framework’s robustness in managing UAV swarms, achieving 100% collision avoidance success and significant operator workload reduction, in the tested scenarios. These findings underscore the framework’s potential for practical deployment in applications such as disaster response, reconnaissance, and search-and-rescue operations. This research advances the field of swarm robotics by offering a scalable and adaptable solution for managing heterogeneous autonomous systems in complex environments.
Source: Aerospace
Authors: Jesus Martin, Sergio Esteban
Institution: Universidad de Sevilla
Language: English
Subfield: Computer Networks and Communications
Field: Computer Science
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
OpenAlex ID: W4413120904