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This letter proposes traffic management for multiple automated mobile robots(AMRs) based on a layered cost map. Multiple AMRs communicate via a datadistribution service (DDS), which is shared by topics in the same DDS domain.The cost of each layer is manipulated by topics. The traffic management serverin the domain sends or receives topics to each of AMRs. Using the layered costmap, the new concept of prohibition filter, lane filter, fleet layer, andregion filter are proposed and implemented. The prohibition filter can help auser set an area that would prohibit an AMR from trespassing. The lane filtercan help set one-way directions based on an angle image. The fleet layer canhelp AMRs share their locations via the traffic management server. The regionfilter requests for or receives an exclusive area, which can be occupied byonly one AMR, from the traffic management server. All the layers areexperimentally validated with real-world AMRs. Each area can be configured withuser-defined images or text-based parameter files.

Layered Cost-Map-Based Traffic Management for Multiple Automated Mobile Robots via a Data Distribution Service