We introduce OpenBot-Fleet, a comprehensive open-source cloud robotics system for navigation. OpenBot-Fleet uses smartphones for sensing, local compute and communication, Google Firebase for secure cloud storage and off-board compute, and a robust yet low-cost wheeled robot toact in real-world environments. The robots collect task data and upload it to the cloud where navigation policies can be learned either offline or online and can then be sent back to the robot fleet. In our experiments we distribute 72 robots to a crowd of workers who operate them in homes, and show that OpenBot-Fleet can learn robust navigation policies that generalize to unseen homes with >80% success rate. OpenBot-Fleet represents a significant step forward in cloud robotics, making it possible to deploy large continually learning robot fleets in a cost-effective and scalable manner. All materials can be found at https://www.openbot.org. A video is available at https://youtu.be/wiv2oaDgDi8

翻译：我们推出OpenBot-Fleet，一个面向导航任务的综合性开源云机器人系统。该系统采用智能手机进行感知、本地计算与通信，利用Google Firebase实现安全云端存储与远程计算，并借助低成本鲁棒轮式机器人在真实环境中执行动作。机器人收集任务数据并上传至云端，在此可通过离线或在线方式学习导航策略，随后可将策略回传至机器人集群。实验中，我们将72台机器人分发给在家庭环境中操作的众包工人，结果表明OpenBot-Fleet能学习到鲁棒的导航策略，在未见过的家庭环境中成功率超过80%。OpenBot-Fleet标志着云机器人领域的重大进展，能以高性价比且可扩展的方式部署持续学习的规模化机器人集群。所有材料详见https://www.openbot.org，演示视频见https://youtu.be/wiv2oaDgDi8。