Overview

Go from one robot to a coordinated collective-fast. In COORDINATING ROBOT SWARMS, you'll learn how to design, simulate, and deploy teams of robots that sense, decide, and act together. Using ROS for real-time messaging and tooling-and TensorFlow for learning-based behaviors-this hands-on guide turns swarm theory into reliable field practice. Build robust multi-robot stacks that navigate, communicate, and collaborate under uncertainty. Inside, you'll discover how to: Architect multi-robot ROS systems with namespaces, remapping, tf frames, and clean package layouts. Enable distributed communication via topics/services/actions, TCPROS/UDPROS tuning, and multi-master setup. Implement task allocation & consensus (auctions, leader election, gossip, and flocking/formation control). Build distributed navigation: multi-robot SLAM, map sharing/merging, frontier exploration, and conflict-aware routing. Achieve safe local interactions with ORCA/RVO collision avoidance, velocity obstacles, and rule-based safety layers. Train coordination policies in TensorFlow: multi-agent RL, attention-based communication, imitation and curriculum learning. Create simulation-at-scale pipelines (Gazebo/Stage, headless runs, scenario generators, CI for swarm tests). Add perception & sensor fusion for shared situational awareness (LiDAR, vision, UWB/GNSS, odometry). Instrument telemetry & observability: rosbag, diagnostics, metrics, replayable post-mortems, and health dashboards. Ship to hardware with Wi-Fi mesh networking, bandwidth budgeting, synchronized clocks, OTA updates, and field hardening. Packed with step-by-step labs, reusable launch files, and real-world case studies (warehouses, inspection, search-and-rescue), this book is the blueprint for scaling from proof-of-concept bots to cohesive, resilient swarms. Who This Book Is For Robotics engineers moving from single-robot to multi-robot systems ROS developers building reliable, scalable swarm architectures Researchers and students prototyping collective behaviors Product teams deploying fleets for logistics, inspection, and autonomy One robot is clever. A swarm is unstoppable-coordinate yours with confidence.

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