Multi-agent Control System of a Robot Group: Virtual and Physical Experiments

Abstract

The paper describes the modeling, development and testing results of a multi-agent control system for a group of ground-based robots. The developed model of collective behavior was verified in the Matlab system, then transferred to the ROS framework and tested in the virtual Gazebo environment. Such a development path allowed us to obtain a workable code at the computer simulation stage and then use it to ensure the functioning of a group of autonomous ground-based robots in natural conditions. The paper describes all the main stages of the project: development of a mathematical model of the multi-agent control system, implementation in ROS system using Python language and verification by control of real robot group (group of eduMIP robots). Comparison of the results of computer simulation and the physical experiments made it possible to conclude that they are sufficiently consistent, which in turn confirms the correctness of the constructed group control model. Thus, within the framework of the SMTU project, the task of developing models and group control algorithms for a simple multi-agent system has been solved. The purpose of the next stage of work is the adaptation and development of proven models and algorithms for the control system of a group of underwater robots.