We present an overview of the Composable Task Definitions introduced in the Open Robotics Middleware Framework, Open-RMF, that enables task interoperability among heterogeneous robotic fleets. Using building-block-like primitives, a variety of tasks can be composed at runtime to achieve complex workflows. We explain how the ROS 2 based Multi-Fleet Task Allocation system can successfully assign such tasks to the most suitable robots among all the fleets, and further command the robots to successfully execute the tasks. All this while respecting battery constraints and preventing conflicts with other robots over resources such as hallways, doorways, and elevators.
Presented by: Yadunund Vijay (Open Robotics) and Grey (Open Robotics)
