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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7) You can use the Little Turtle simulation demo to verify whether the communication between the robots is
successful:
a. Run from the master!
roscore #launch ROS services!
rosrun turtlesim turtlesim_node #launch turtlesim interface
b. Run from the slave!
rosrun turtlesim turtle_teleop_key #launch keyboard control node for turtlesim
If you can manipulate the turtle movements from the keyboard on the slave, it means the master/slave
communication has been established successfully.
2.2 Automatic Wifi connection in ROS
The below procedures explain how to configure the robot to automatically connect to the host network or
router network.
2.2.1 Automatic Wifi connection setup for Jetson Nano
1. Connect Jetson Nano via VNC remote tool or directly to the computer screen. Click on wifi icon on the top
right corner then click "Edit Connections..”
Fig 2-2-1 Jetson Nano Connection to Wifi
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