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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4.2.2 Note:
1. Be sure to complete the time synchronization operation before executing the program.
2. When controlling the master of a multi-agent formation, the angular velocity should not be
too fast. Recommended linear speed is 0.2m/s, angular speed degree below 0.3rad/s.
When the master is making a turn, the farther the slave is from the master, the greater the
linear speed is required. Because of the limit on the linear speed and angular speed in the
package, when the slave car cannot reach the required speed, the formation will be chaotic.
Overall, the excessive linear speed can easily damage the robot.
3. When the number of slave is more than one, due to the limited on-board wifi bandwidth
of the ROS host, it is easy to cause significant delays and disconnection of the multi-agent
communication. Using a router can solve this problem well.
4. The TF tree of the multi-robot formation (2 slaves) is: rqt_tf_tree
5. The node relationship diagram of the multi-robot formation (2 slaves) is: rqt_graph
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