Autonomous Robot Fleet Management System

📋 Project Overview

🎯 Objective

Design and implement a comprehensive autonomous robot fleet management system for industrial warehouse operations. The system coordinates multiple robots for material handling, inventory management, and automated logistics using ROS (Robot Operating System) and Open-RMF (Robotics Middleware Framework).

⚡ Key Features

Multi-robot coordination, real-time path planning, collision avoidance, task scheduling optimization, fleet monitoring dashboard, integration with warehouse management systems, and automated charging station management for continuous operation.

🏆 Results

Successfully deployed a fleet of 6 autonomous robots. Successfull interconectation between two AMR from diferent brands, with different control Softwares (something not possible without the use of Open-RMF).

⚙️ Technical Specifications

Fleet Size

6 Robots

Payload AMR

Magnus - Brand SESTO

Observation AMR

Magni - Brand Ubiquity

Navigation Accuracy

±5 cm

Operating Speed

1.5 m/s

Battery Life

8-10 hours

Communication

WiFi 6 / 5G

🏗️ System Architecture

🤖 Robot Layer

Individual robot controllers running ROS2 with navigation stack, sensor fusion (LiDAR, cameras, IMU), and local decision-making capabilities. Each robot maintains autonomous operation while communicating with the fleet management system.

🌐 Fleet Management

Open-RMF based central coordinator handling task assignment, path planning, traffic management, and resource allocation. Implements advanced algorithms for optimal fleet utilization and conflict resolution.

📊 Monitoring System

Real-time dashboard for fleet status monitoring, performance analytics, predictive maintenance alerts, and integration with existing warehouse management systems through RESTful APIs.

⏱️ Project Timeline

Month 1-2

Studing Python, C++ for ROS2

Focused on learning Python and C++ with a specialization in Robot Operating System 2 (ROS2), including topics like nodes, publishers/subscribers, and service/client communication to build autonomous robotic applications.

Month 2-3

Studying the software Open-RMF

Studying the architecture and interface of Open-RMF, exploring its core ROS2 packages, understanding fleet coordination mechanisms, and analyzing how the monitoring dashboard interacts with system components.

Month 3-6

Development & Integration

Developed core ROS2 packages, implemented Open-RMF integration, created fleet coordination algorithms, and built the monitoring dashboard interface.

Month 6-7

Testing & Simulation

Extensive testing in simulated environments using Gazebo, validation of algorithms, stress testing with multiple robot scenarios, and performance optimization.

Month 7-9

Writting the report

Documenting the development process, methodologies, and findings from previous stages. Summarizing simulation results from Gazebo, algorithm validation, stress testing, and performance evaluations for inclusion in the final report.

📸 Project Gallery

🤖 AMR Magnus - Brand: SESTO

Robot in charge of the delivery actions

🤖 AMR Magni - Brand: UBIQUITY

Robot in charge of the observation actions

🏭 Warehouse design scheme

The simulation is carried out from this scheme

🏭 Warehouse ground floor edited

Warehouse OºFloor edited with TrafficEditor

Warehouse edited with robot paths, robot spwans, automated lifts and doors

🏭 Warehouse first floor edited

Warehouse 1ºFloor edited with TrafficEditor

Warehouse edited with robot paths, robot spwans, automated lifts and doors

🏭 Warehouse ground floor Gazebo

Warehouse ground floor in Gazenbo

🏭 Warehouse frist floor Gazebo

Warehouse first floor in Gazenbo

📊 Control Dashboard

Real-time fleet monitoring and control interface

🗺️ Navigation System

Simulation in Gazebo

🎥 Project Demo

System Demonstration

Complete demonstration of the autonomous robot fleet management system in action, showing multi-robot coordination, path planning, and real-time monitoring capabilities.

🔧 Technologies & Tools

🤖 Robotics Framework

ROS2 Humble, Open-RMF, Nav2 Navigation Stack, Gazebo Simulation, RViz Visualization, MoveIt Motion Planning, and custom ROS2 packages for fleet coordination.

💻 Programming Languages

C++ for real-time robot control and performance-critical components, Python for system integration and web interfaces, JavaScript/React for dashboard frontend.

🏗️ Infrastructure

Docker containerization, PostgreSQL database, Redis for caching, nginx for web serving, and AWS cloud infrastructure for data analytics and remote monitoring.