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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MULTI-AGENT SYNCHRONISATION SETUP
In the multi-agent formation project, the multi-agent time synchronization setting is a crucial step. In the
process of the formation, many problems will be caused due to the asynchronous system time of each robot.
Multi-agent time synchronization is divided into two situations, namely, the situation that both the master and
slave robots are connected to the network and the situation that both are disconnected from the network.
3.1 Successful master/slave network connection
After the multi-agent communication is configured, if the master and slave machines can successfully connect
to the network, they will automatically synchronize network time. In this case, no further actions are required to
achieve time synchronization.
3.2 Troubleshooting network dis-connections
After the multi-agent communication is configured, if the master and slave devices cannot successfully
connect to the network, it is necessary to manually synchronize the time. We will use the date command to
complete the time setting.
First, install the terminator tool. From the terminator tool, use the window splitting tool to place the control
terminals of the master and slave into the same terminal window (right-click to set a split window, and log in to
the master and slave machines by ssh in different windows).
sudo apt-get install terminator # Download terminator to split terminal window
Click the button on the top left, select the option [Broadcast to all]/[Broadcast all], enter the following
command. Then use the terminator tool to set the same time for the master and slave.
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