Design and Simulation of Mobile Robots Operating within Networked Architectures Tailored for Emergency Situations

This paper presents a simulation approach for mobile robots designed to operate within networks intended for emergency response scenarios. The simulation compo-nent is part of a broader and more complex system architecture focused on enhancing communication efficiency and operational coordination within robotic networks. The study leverages virtualization and robotic simulation technologies to develop a con-trolled environment in which the behavior and coordination of mobile robots can be analyzed and validated under simulated emergency conditions. To achieve this, a vir-tual machine was configured to host a ROS2 and Gazebo-based simulation environ-ment. Custom packages were developed to enable the dynamic instantiation of mobile robots and the integration of essential sensing and control functionalities. The simula-tion process was carried out in two stages: initially, a single mobile robot was deployed and evaluated; subsequently, the configuration was extended to support a second ro-bot, enabling multi-agent interaction within the simulated environment. The proposed architecture demonstrates the potential for scalable deployment and simulation of mobile robotic units in critical scenarios. As a future direction, the authors aim to ex-tend the system by optimizing data extraction from the simulation environment and implementing ROS2 microservices to facilitate secure and efficient communication with a centralized server deployed within a Kubernetes cluster. This integration will enable real-time coordination and data exchange between simulated agents and backend services, forming the foundation for a robust, distributed robotic system tai-lored to emergency operations.