Modeling, Simulation, and Characterization of Distributed Multi-Agent Systems

Abstract

A strategy is described that utilizes a novel application of a potential-force function that includes the tuning of coefficients to control mobile robots orchestrated as a distributed multiagent system. Control system parameters are manipulated methodically via simulation and hardware experimentation to gain a better understanding of their impact upon mission performance of the multi-agent system as applied to a predetermined task of area exploration and mapping. Also included are descriptions of experiment infrastructure components that afford convenient solutions to research challenges. These consist of a surrogate localization (position and orientation) function utilizing a novel MATLAB executable (MEX) function and a user datagram protocol (UDP)-based communications protocol that facilitates communication among network-based control computers.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2012
Accession Number
ADA603534

Entities

People

  • Devendra P. Garg
  • Reed F. Young

Organizations

  • Duke University

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Application Software
  • Collision Avoidance
  • Computer Communications
  • Computer Programming
  • Computer Science
  • Control Systems
  • Data Transmission
  • Digital Communications
  • Global Positioning Systems
  • Motion Planning
  • Multiagent Systems
  • Network Protocols
  • Network Science
  • Robotic Swarms
  • Robots
  • Simultaneous Localization And Mapping
  • Transport Protocols

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Computer Networking
  • Robotics and Automation.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • AI & ML - Bayesian Inference
  • Autonomy
  • Autonomy - Autonomous System Control