In this paper, we present an experimental test bench to implement various cooperative control strategies for multi-agent systems, and illustrate its use with experimental results for a source-seeking problem, where a ...
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In this paper, we present an experimental test bench to implement various cooperative control strategies for multi-agent systems, and illustrate its use with experimental results for a source-seeking problem, where a group of small wheeled robots termed as Zooids should locate a source of a given spatial scalar field. This algorithm is implemented as a validation to demonstrate the capabilities of the test bench. We propose to achieve this by utilising an internal target-based position controller, under the assumptions of convexity of the scalar, continuous/discrete field and availability of local measurements of the field, so that agents can calculate its gradient and its Hessian. We then show in experiments, that using estimated gradients and Hessians (with data communicated from neighbours) in the presence of noisy measurements of the field strength provides satisfactory results for convex fields, under various algorithms such as Steepest Descent, Gauss-Newton, Levenberg Marquardt. These algorithms are analysed, and experimental results are discussed.
This paper presents analysis and results for several experiments performed to verify the effectiveness of topology control algorithms running on a multiagent network (e-puck robots), in a multi-objective realistic har...
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This paper presents analysis and results for several experiments performed to verify the effectiveness of topology control algorithms running on a multiagent network (e-puck robots), in a multi-objective realistic hardware-based scenario. The main goal of such a network can be, for instance, disaster response, wildfire and environment monitoring, security tasks and also exploration and mapping (Scherer and Rinner, 2020). In doing so, the agents should be controlled in such a way that they have to ensure connectivity maintenance and robustness to failures while improving the coverage area. These issues were addressed by Ghedini et al. (2016, 2017, 2018), who proposed topology controllers regarding all these aspects and tested them successfully in a simulated scenario. However, it lacked the validation on a hardware-based domain, accomplished by this work. By running several experiments from different initial topologies, it was possible to analyze and verify the effectiveness of the developed topology controllers proposed in Ghedini et al. (2016, 2017, 2018). The hardware-based experiments shown results compatible with the simulated ones.
This work is the first part of a project that is intended to develop a control strategy for multiple heterogeneous robots oriented to the assistance in situations of search and rescue. The project is presented from tw...
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This paper addresses the coordinated output regulation control problem. Consider a network of agents with associated output equations, where the latter is a function of the state of the agent and a coordination vector...
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