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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After all settings are configured, click "save" to save the settings. After the saving is successful, the robot will
automatically connect to the network of the host or router when it is powered on.
Note:
1) The IP address set here needs to be the same as the IP address set in the .bashrc file in Section 2.1.
2) The IP address of the master and each slave must be unique.
3) The master and slave IP addresses need to be in the same network segment.
4) You must wait for the host or router to send out WiFi signal before the slave robot can be powered on and
automatically connect to the WiFi network.
5) After the setting is configured, if the robot cannot automatically connect to the WiFi when it is turned on,
please plug and unplug the network card and try connecting again.
2.2.2 Automatic Wifi connection setup for Raspberry Pi
The procedure for Raspberry Pi is the same as Jetson Nano.
2.2.3 Automatic Wifi connection setup for Jetson TX1
The setup in Jetson TX1 is almost the same as in Jetson Nano with one exception that Jetson TX1 should
select the device of "wlan1" in "Device" in the network settings control panel.
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Fig 2-2-8 Jetson Nano Connection to Wifi