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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4.1.4 Position Configuration
In a multi-agent formation, the first problem to be solved is the positioning of the master and the slave. The
master will construct a 2D map first. After creating and saving the map, run the 2D navigation package and
use the adaptive Monte Carlo positioning algorithm (amcl positioning) in the 2D navigation package to
configure the positioning of the master.
Since the master and the slaves are in the same network and share the same node manager, the master has
launched the map from the 2D navigation package, all the slaves can use the same map under the same node
manager. Therefore, the slave does not need to create a map. In wheeltec_slave.launch, run Monte Carlo
positioning (amcl positioning), the slaves can configure their positions by using the map created by the master.
4.1.5 How to create formation and maintain formation
In the process of formation movement, the master movement can be controlled by Rviz, keyboard, remote
control and other methods. The slave calculates its speed through the slave_tf_listener node in order to control
its movement and achieve the goal of the formation.
The slave_tf_listener node limits the slave speed to avoid the excessive speed by the node calculation, which
will cause a series of impacts. The specific value can be modified in wheeltec_slave.launch.
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Fig 4-1-5 Slave Positioning Node