Multi-agent Control System Manual
Table Of Contents
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- Summary
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- Table of contents
- 1. Introduction to Multi-agent Algorithms
- 2. Multi-agent Communications Setup
- 3. Multi-agent Synchronisation Setup
- 4. Multi-agent ROS Package
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- Introduction to multi-agent algorithms
- 1.1 Multi-agent formation algorithms
- 1.2 Obstacle avoidance algorithms
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- multi-agent communication setup
- Multi-agent communication is one of the key steps to complete a multi-robot formation. When the relative positions of multiple robots are unknown, the robots need to share each other's information through communication to facilitate the establishment of connections. ROS distributed architecture and network communications are very powerful. It is not only convenient for inter-process communication, but also for communication between different devices. Through network communication, all nodes can run on any computer. The main tasks such as data processing are completed on the host side. The slave machines are responsible for receiving environmental data collected by various sensors. The host here is the manager that runs the Master node in ROS. The current multi-agent communication framework is through a node manager and a parameter manager to handle communications among multiple robots.
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- 2.1 The steps to set up multi-agent communications
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- 2.2 Automatic Wifi connection in ROS
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- multi-agent synchronisation setup
- 3.1 Successful master/slave network connection
- 3.2 Troubleshooting network dis-connections
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- multi-agent ros package
- 4.1 ROS Package Introduction
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- 4.2 Operation Procedure
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Note:
If the robot cannot automatically connect to the wifi network after booting when the wifi priority is set to 0, it
may be caused by a problem of weak wifi signal. In order to avoid this problem, you can choose to delete all
the wifi options that have been connected in the past. Only keep the wifi network created by the host or the
router.
Click the "IPv4 Settings" option in the network settings control panel. Select "Manual" option in the “Method"
field. Then click "Add", fill in the IP address of the slave machine in “Address" field. Fill in "24" in “Netmask"
field. Fill in the IP network segment in "Gateway". Change the last three digits of the IP network segment to
"1". The main purpose of this step is to fix the IP address. After this is completed for the first time, the IP
address will remain unchanged when connecting to the same WIFI subsequently.
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Fig 2-2-7 Jetson Nano Connection to Wifi