Multi-Robot platform with features of Cyber-physical systems for education applications

This document shows the development of an omnidirectional mobile robot with flexible and scalable characteristics, as well as being easily replicable. The joint work of several of these robots forms an open-source multi-robot platform and allows the use of cyber-physical systems (CPS) through the Internet of Things (IoT) that use the MQTT protocol for their joint management. Each robot has an independent control through the use of the Robotics Operating System (ROS), implemented in raspberry pi, and uses Arduino to manage sensors and actuators. This platform was built to teach the principles of cyber-physical systems. Simple tests of joint planning and collaboration are shown in this document. A comparison with other robots on the market, as well as a brief analysis of replicas made by students without knowledge of the CPS, are the tools used to check the efficiency of this system in education.