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).

MyRoboPath Engineering Lab

Peer-Reviewed Open-Source Hardware & Firmware Guide

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

Related Guides & Next Steps

kinematics

Inverse Kinematics (IK): Geometric Decoupling & Numerical DLS Solvers

Solve for the required joint angles to place an end-effector at a desired 3D spatial target using analytical trigonometry and Damped Least Squares (DLS) Jacobian optimization.

Read Article

kinematics

Quaternions & 3D Spatial Rotations in Robotics

Escape Euler angle gimbal lock: master unit quaternions, SO(3) Lie groups, spherical linear interpolation (SLERP), and rotation matrix conversions for robot poses.

Read Article

kinematics

The Manipulator Jacobian: Velocities, Static Forces & Singularities

Relate joint angular velocities to end-effector Cartesian velocities, calculate Yoshikawa manipulability ellipsoids, and analyze boundary and interior kinematic singularities.

Read Article