Overview

From one bot to a coordinated fleet-without rewriting your stack. In ROS2 for Swarm Robotics, you'll learn how to design, simulate, and deploy collaborative robot teams that communicate reliably, coordinate safely, and scale cleanly. Grounded in DDS-based middleware and ROS2 best practices, this hands-on guide shows you how to build multi-robot systems that hold up under real-world latency, congestion, and failure conditions. Inside, you'll discover how to: Architect scalable ROS2 swarms using namespaces, remapping, lifecycle nodes, and package layouts that grow from 2 to 200 robots. Tune DDS QoS (reliability, durability, history, liveliness, deadline, latency budget) and discovery to keep messages flowing on dense networks. Achieve real-time behavior with executors, callback groups, priority settings, PREEMPT_RT, and lock-free patterns. Use intra-process comms & loaned messages for zero-copy, low-latency pipelines on edge hardware. Implement distributed task allocation & coordination (auctions, consensus, leader election, behavior trees). Integrate Nav2 for multi-robot navigation with per-robot costmaps, conflict-aware routing, and collision avoidance (ORCA/RVO). Run multi-robot SLAM, map sharing/merging, and synchronized exploration with robust time sync (NTP/PTP). Choose and tune Cyclone DDS vs. Fast DDS; configure ROS_DOMAIN_IDs, discovery servers, and traffic shaping. Secure fleets with SROS2 (keystores, permissions), and harden deployments with OTA configs and least-privilege policies. Build a simulation-at-scale workflow (Gazebo/Igntion), headless CI runs, rosbag2 telemetry, tracing, and replayable post-mortems. Packed with reference launch files, parameter templates, and lab exercises, this book is your blueprint for turning a clever prototype into a cohesive, resilient swarm. Who This Book Is For Robotics/ROS2 engineers scaling from single robots to fleets Researchers and students building reproducible multi-agent experiments Product teams deploying collaborative robots in logistics, inspection, and research One robot is a demo. A swarm is a system-build yours to scale.

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