GidaBot is an application designed to set up and run a heterogeneous team of robots to act as tour guides in multi-floor buildings. Although the tours can go through several floors, robots are not allowed to use the lift, and thus, each guiding task requires collaboration among several robots, one per floor. The designed system makes use of a robust inter-robot communication strategy to share goals and paths during the guiding tasks. A user-friendly GUI helps untrained users or new visitors to easily choose target locations or define a list of locations to be visited sequentially. A prototype has been implemented using ROS, and the system robustness has been tested in a Gazebo-based simulated robot/environment and using real robots at the Faculty of Informatics in San Sebastian. The whole application is available together with a simulated world so that the system functioning can be checked further.

中文翻译：

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GidaBot：在多层环境中协同协作的异构机器人系统

GidaBot是一个应用程序，旨在建立和运行一个由不同种类的机器人组成的团队，以充当多层建筑中的导游。尽管游览可以穿越多个楼层，但不允许机器人使用电梯，因此，每个引导任务都需要多个机器人之间的协作，每个楼层一个。设计的系统利用强大的机器人间通信策略在指导任务期间共享目标和路径。用户友好的GUI可帮助未经培训的用户或新访客轻松选择目标位置或定义要顺序访问的位置列表。已经使用ROS实现了一个原型，并且在基于Gazebo的模拟机器人/环境中以及在圣塞瓦斯蒂安信息学院使用真实的机器人对系统的坚固性进行了测试。