Coordinating Robot Swarms Building Collective Intelligence with Ros: Mastering Distributed Navigation and Communication Using ROS and TensorFlow

By Corwin Halesworth and Isandro Myles

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.

• Format: Paperback
• Language: English
• ISBN: B0FP338FHQ
• ISBN13: 9798262619849
• Release Date: August 2025
• Publisher: Independently Published
• Length: 240 Pages
• Weight: 0.72 lbs.
• Dimensions: 0.5" x 6.0" x 9.0"