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 Operation Procedure
4.2.1 Enter execution command
Preparations before starting multi-agent formation:
• The master and slave connect to the same network and set up multi-agent communication correctly
• The master builds a 2D map in advance and saves it
• The master is placed at the starting point of the map, and the slave is placed near the initialization position
(the default slave formation position)
• After logging in to Jetson Nano/Raspberry Pi remotely, perform time synchronization.
sudo date -s “2022-04-01 15:15:00”
Step 1: Open 2D map from the master.
roslaunch turn_on_wheeltec_robot navigation.launch
Step 2: Run formation program from all the slaves.
roslaunch wheeltec_multi wheeltec_slave.launch
Step 3: Open keyboard control node from the master or use joystick to remote control the
master movement.
roslaunch wheeltec_robot_rc keyboard_teleop.launch
Step 4: (Optional) Observe the robot movements from Rviz.
rviz
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