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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ROS multi-machine communication is not constrained by ROS release version. In the process of multi-
machine communication, one should be aware of the following:
1) The operation of the ROS slave program depends on the ROS master program of the ROS master device.
The ROS master program must launch first on the master device before executing the slave program on the
slave device.
2) The IP addresses of the master and slave machines in multi-machine communication need to be in the
same network. This means the IP address and the subnet mask are under the same network.
3) ROS_HOSTNAME in the environment configuration file .bashrc is not recommended to use localhost. It is
recommended to use a specific IP address.
4) In the case that the slave IP address is not set correctly, the slave device can still access the ROS master
but cannot input control information.
5) If the virtual machine participates in the multi-agent communication, its network mode needs to be set to
bridge mode. Static IP cannot be selected for the network connection.
6) Multi-machine communication cannot view or subscribe to topics of message data type that do not exist
locally.
Fig 2-1-4 Environment Configuration File .bashrc
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