Related papers: ROS-Based Multi-Agent Systems COntrol Simulation T…
The performance and safety of autonomous vehicles (AVs) deteriorates under adverse environments and adversarial actors. The investment in multi-sensor, multi-agent (MSMA) AVs is meant to promote improved efficiency of travel and mitigate…
Multi-Agent Systems (MASs) have been used to solve complex problems that demand intelligent agents working together to reach the desired goals. These Agents should effectively synchronize their individual behaviors so that they can act as a…
This paper presents the CAT Vehicle (Cognitive and Autonomous Test Vehicle) Testbed: a research testbed comprised of a distributed simulation-based autonomous vehicle, with straightforward transition to hardware in the loop testing and…
An open-source vehicle testbed to enable the exploration of automation technologies for road vehicles is presented. The platform hardware and software, based on the Robot Operating System (ROS), are detailed. Two methods are discussed for…
ROScopter is a lean multirotor autopilot built for researchers. ROScopter seeks to accelerate simulation and hardware testing of research code with an architecture that is both easy to understand and simple to modify. ROScopter is designed…
This paper presents the development of a real-time simulator for the validation of controlling a large vehicle manipulator. The need for this development can be justified by the lack of such a simulator: There are neither open source…
Multiagent Systems (MASs) involve different characteristics, such as autonomy, asynchronous and social features, which make these systems more difficult to understand. Thus, there is a lack of procedures guaranteeing that multiagent systems…
This paper presents a prototyping framework for distributed control of multi-robot systems, aimed at bridging theory and practical testing of distributed optimization algorithms. Using the Single Program, Multiple Data (SPMD) paradigm, the…
We present the Robotics Intelligent Systems & Control (RISC) Lab multiagent testbed for reliable search and rescue and aerial transport in outdoor environments. The system consists of a team of three multirotor unmanned aerial vehicles…
Formal modelling of Multi-Agent Systems (MAS) is a challenging task due to high complexity, interaction, parallelism and continuous change of roles and organisation between agents. In this paper we record our research experience on formal…
We describe a software framework and a hardware platform used in tandem for the design and analysis of robot autonomy algorithms in simulation and reality. The software, which is open source, containerized, and operating system (OS)…
Co-simulation is a critical approach for the design and analysis of complex cyber-physical systems. It will enhance development efficiency and reduce costs. This paper presents a co-simulation framework integrating ROS 2 and MATLAB/Simulink…
This paper demonstrates the integration model-based design approaches or vehicle control, with validation in a freely available open-source simulator. Continued interest in autonomous vehicles and their deployment is driven by the potential…
Large-Scale Multi-Agent Systems (LS-MAS) consist of several autonomous components, interacting in a non-trivial way, so that the emerging behaviour of the ensemble depends on the individual dynamics of the components and their reciprocal…
Intelligent agents offer a new and exciting way of understanding the world of work. Agent-Based Simulation (ABS), one way of using intelligent agents, carries great potential for progressing our understanding of management practices and how…
We present a new simulator of Uncrewed Aerial Vehicles (UAVs) that is tailored to the needs of testing cyber-physical security attacks and defenses. Recent investigations into UAV safety have unveiled various attack surfaces and some…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
We design a distributed feedback optimization strategy, embedded into a modular ROS 2 control architecture, which allows a team of heterogeneous robots to cooperatively monitor and encircle a target while patrolling points of interest.…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
We present a networked co-simulation framework for multi-robot systems applications. We require a simulation framework that captures both physical interactions and communications aspects to effectively design such complex systems. This is…