Generation of Critical Information and Sharing Mechanism for Multi-Robot Mission Success

摘要

This paper shows a real-time information-sharing mechanism and custom task allocation strategy for cooperative multi-robot systems operating in uncertain and dynamic environments. The proposed method is based on a decentralized, asynchronous architecture utilizing the Quality of Service (QoS) features of the Robot Operating System 2 (ROS2) framework and Data Distribution Service (DDS) middleware. To validate its practical applicability, extensive simulation experiments and real-world robot tests were conducted using mobile robot platforms under varying network conditions. Key performance metrics including message delay, reaction time, packet loss, and mission success rate were evaluated across multi-QoS configurations. Results show that Reliable and Transient Local settings provide the most consistent performance, ensuring stable obstacle information transmission and robust map updates even in environments with significant communication constraints. Additionally, comparisons between simulation and physical experiments reveal the impact of system-level variables such as synchronization error, network behavior, and sensor noise. The findings confirm the robustness and adaptability of the proposed approach and demonstrate its potential to serve as a scalable framework for future heterogeneous multi-robot deployments.