autonomous slam16 min readUpdated 2026-03-18Advanced

Multi-Robot Fleet Management & Coordination with ROS 2 & Open-RMF

Coordinate fleets of heterogeneous AMRs and robotic arms using ROS 2 namespaces, Zenoh DDS bridging, traffic scheduling, and Open Robotics Middleware Framework (Open-RMF).

Dr. Liam Sterling

Head of Autonomous Navigation

Key Engineering Takeaways

•Open-RMF (Robotics Middleware Framework) orchestrates traffic sharing across heterogeneous fleets (different robot brands, doors, elevators).
•Use ROS 2 namespaces (`/robot1/cmd_vel`, `/robot2/cmd_vel`) and TF prefixes (`robot1/base_link`) to prevent topic name collisions.
•Eclipse Zenoh replaces complex DDS discovery bridges, providing lightweight pub/sub routing across cloud and mobile fleets.

Prerequisites

• ROS 2 Humble
• Nav2 stack

Multi-Robot Challenges: Traffic Deadlocks & Shared Maps

When scaling from 1 to 50+ robots in a warehouse, standard single-robot navigation causes hallway deadlocks and WiFi multicast broadcast storms. Open-RMF provides topological graph reservation conflict resolution.

Tags:#Multi-Robot#Open-RMF#Fleet Management#Zenoh#Traffic Coordination#AMR Fleet

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