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Long-term deployment of a fleet of mobile robots requires reliable and securetwo-way communication channels between individual robots and remote humanoperators for supervision and tasking. Existing open-source solutions to thisproblem degrade in performance in challenging real-world situations such asintermittent and low-bandwidth connectivity, do not provide security controloptions, and can be computationally expensive on hardware-constrained mobilerobot platforms. In this paper, we present Robofleet, a lightweight open-sourcesystem which provides inter-robot communication, remote monitoring, and remotetasking for a fleet of ROS-enabled service-mobile robots that is designed withthe practical goals of resilience to network variance and security control inmind.  Robofleet supports multi-user, multi-robot communication via a centralserver. This architecture deduplicates network traffic between robots,significantly reducing overall network load when compared with native ROScommunication. This server also functions as a single entrypoint into thesystem, enabling security control and user authentication. Individual robotsrun the lightweight Robofleet client, which is responsible for exchangingmessages with the Robofleet server. It automatically adapts to adverse networkconditions through backpressure monitoring as well as topic-level prioritycontrol, ensuring that safety-critical messages are successfully transmitted.Finally, the system includes a web-based visualization tool that can be run onany internet-connected, browser-enabled device to monitor and control thefleet.  We compare Robofleet to existing methods of robotic communication, anddemonstrate that it provides superior resilience to network variance whilemaintaining performance that exceeds that of widely-used systems.

Robofleet: Open Source Communication and Management for Fleets of Autonomous Robots