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. In Control Panel, click Wifi option. Enter the Wifi name to connect in “Connection Name” and SSID fields.
Select “Client” in “Mode” dropdown menu and select “wlan0” in “Device” dropdown menu.
5. In Control Panel, click the "General" option and check "Automatically connect to this network…”. Set the
connection priority to 1 in the "Connection priority for auto-activation" option. Check "All users may connect to
this network” option. When the option is set to 0 in "Connection priority for auto-activation” for other wifi, this
means this is the preferred wifi network in the past.
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Fig 2-2-4 Jetson Nano Connection to Wifi