cs.DCApr 8, 2026

Exploiting Aggregate Programming in a Multi-Robot Service Prototype

Authors: Giorgio Audrito, Andrea Basso, Daniele Bortoluzzi, Ferruccio Damiani, Giordano Scarso, Gianluca Torta

Organizations: Dipartimento di Informatica, Universita' di Torino · Università di Torino, Turin, Italy · MITO Technology · MITO Technology, Milan, Italy

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Abstract

Multi-robot systems are becoming increasingly relevant within diverse application domains, such as healthcare, exploration, and rescue missions. However, building such systems is still a significant challenge, since it adds the complexities of the physical nature of robots and their environments to those inherent in coordinating any distributed (multi-agent) system. Aggregate Programming (AP) has recently emerged as a promising approach to engineering resilient, distributed systems with proximity-based communication, and is notably supported by practical frameworks. In this paper we present a prototype of a multi-robot service system, which adopts AP for the design and implementation of its coordination software. The prototype has been validated both with simulations, and with tests in a University library.

Figures & tables

Figure 1: A sample event structure, split in events ϵ′\epsilon^{\prime} in the past of ϵ\epsilon ( ϵ′<ϵ\epsilon^{\prime}<\epsilon , in red), events in the future ( ϵ<ϵ′\epsilon<\epsilon^{\prime} , in green) and concurrent (non-ordered, in black) (left). AP Engineering Stack Layers (adapted from [ 35 ] ) (right).
Figure 2: Architecture of the developed platform, integrating Aggregate Programming and ROS2.
Figure 4: Library world simulated with Gazebo.
Figure 5: Network partition between robots (left): groups {1,2,3} and {4,5} (we show both the FCPP simulator, and the Gazebo simulator). Solving the network partition problem (right).
Figure 6: Multiple robots in action.
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