Robot Operating System 2 (ROS2)-Based Frameworks for Increasing Robot Autonomy: A Survey
Source abstract
Abstract
Future challenges in manufacturing will require automation systems with robots that are increasingly autonomous, flexible, and hopefully equipped with learning capabilities. The flexibility of production processes can be increased by using a combination of a flexible human worker and intelligent automation systems. The adoption of middleware software such as ROS2, the second generation of the Robot Operating System, can enable robots, automation systems, and humans to work together on tasks that require greater autonomy and flexibility. This paper has a twofold objective. Firstly, it provides an extensive review of existing literature on the features and tools currently provided by ROS2 and its main fields of application, in order to highlight the enabling aspects for the implementation of modular architectures to increase autonomy in industrial operations. Secondly, it shows how this is currently potentially feasible in ROS2 by proposing a possible high-level and modular architecture to increase autonomy in industrial operations. A proof of concept is also provided, where the ROS2-based framework is used to enable a cobot equipped with an external depth camera to perform a flexible pick-and-place task.
Source: crossref · Quality: baseline
Research context
OpenAlex topics: Robot Manipulation and Learning · Advanced Manufacturing and Logistics Optimization · Flexible and Reconfigurable Manufacturing Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
Affiliations
Dipartimento di Ingegneria dell’Informazione (DII), Università Politecnica delle Marche, 60131 Ancona, Italy
Funding
European Project Digital Europe “EDIH4Marche” (European Digital Innovation Hub for Marche), Call DIGITAL-2021-EDIH-01
References (100+)
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