SwarmKit: The ROS2 Swarm Framework for Rapid Development of Reliable, Scalable, and Efficient Swarm Applications

Although robotic frameworks such as the Robot Operating System (ROS) exist, their current level of abstraction is insufficient to support the direct transfer of existing swarm robotic approaches into real-world industrial settings. To address this gap, we propose SwarmKit, our ROS2-based framework that facilitates the rapid and straightforward development of swarm robotic applications. SwarmKit will provide basic swarm behaviour modules, such as Lévy Walk and Collision Avoidance, and abstracts existing robot platforms, including quadcopters and Autonomous Mobile Robots (AMRs) such as TurtleBots.