Welcome to the central GitHub organization for Autonomous Systems within the Smart Factory Grids (SFG) DFG project.
To maintain a clean separation between published research, exploratory student work, and internal lab management, our codebase is divided across three GitHub organizations:
This is our primary organization for publication-ready research, hardware-specific deployments, and shared infrastructure. It hosts the official repositories that accompany our published papers, our hardware-agnostic core frameworks, and our reference agent implementations (e.g. sfg_agent_common or sfg_go2).
This organization is dedicated solely to administrative purposes. It contains primarily private repositories and is restricted to administrators.
This space is dedicated to student projects, experimental code, and early-stage research. Successful prototypes from this sandbox are eventually graduated to the main organization once they meet our standards.
Please thoroughly review our Contributing Guidelines to understand our development workflows, git submodule policies, and required VS Code tooling before contributing.
Note for Lab Members: Internal infrastructure documentation is hosted separately here.
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SFG-ROS: A resource-aware multi-agent software framework designed for dynamic fleet deployments. It utilizes schema-driven traffic routing to isolate high-frequency intra-agent traffic from the global network and bounds network traffic to
$\mathcal{O}(1)$ while reducing the per-subscriber CPU scaling penalty by 72.3% versus standard ROS 2.
Our research is conducted at the Institute for Intelligent Systems (IIS) at the Esslingen University of Applied Sciences.
Funded by Deutsche Forschungsgemeinschaft (DFG, German Research Foundation) - Projectnumber 528745080 (FIP 68).