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ROS-Based Multi-Agent Systems COntrol Simulation Testbed (MASCOT)

Arvind PanditAkash NjattuvettyAmeer K. Mulla
Dec 2022
摘要
This paper presents a simulation testbed developed for testing anddemonstration of decentralized control algorithms designed for multi-agentsystems. Aimed at bridging a gap between theory and practical deployment ofsuch algorithms, this testbed provides a simulator with multi-agent systemshaving quadcopter agents. It is used to test the control algorithms designedassuming simple agent dynamics like a single or double integrator. This isbased on the fact that under certain assumptions, quadcopter dynamics can bemodeled as a double integrator system. A gazebo simulator with a physics engineas ODE (Open Dynamics Engine) is used for simulating the dynamics of thequadcopter. Robot Operating System is used to develop communication networksand motion control algorithms for the different agents in the simulationtestbed. The performance of the test bed is analyzed by implementing linearcontrol laws such as position control, leaderless consensus, leader-followerconsensus, and non-linear control law for min-max time consensus. This work ispublished as an open-source ROS package under MIT license athttps://github.com/Avi241/mascot. A docker image is also developed for easysetup of the system.
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