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This paper introduces SMARTmBOT, an open-source mobile robot platform basedon Robot Operating System 2 (ROS2). The characteristics of the SMARTmBOT,including low-cost, modular-typed, customizable and expandable design, make itan easily achievable and effective robot platform to support broad roboticsresearch and education involving either single-robot or multi-robot systems.The total cost per robot is approximately $210, and most hardware componentscan be fabricated by a generic 3D printer, hence allowing users to build therobots or replace any broken parts conveniently. The SMARTmBot is also equippedwith a rich range of sensors, making it competent for general task scenarios,such as point-to-point navigation and obstacle avoidance. We validated themobility and function of SMARTmBOT through various robot navigation experimentsand applications with tasks including go-to-goal, pure-pursuit, line following,and swarming. All source code necessary for reading sensors, streaming from anembedded camera, and controlling the robot including robot navigationcontrollers is available through an online repository that can be found athttps://github.com/SMARTlab-Purdue/SMARTmBOT.

SMARTmBOT: A ROS2-based Low-cost and Open-source Mobile Robot Platform