Abstract
This article presents an interactive simulator for formation control of wireless networked robots. The formation control is achieved thanks to the application of consensus algorithms of multi-agent systems which are executed in a distributed manner. Each vehicle sends to its neighbors the state, and they use this state to compute their control law. The agents communicate through a packet-based network. Different scheduling schemes are provided: time-based and event-based, with different event trigger functions. The user can configure the topology of the network, define delays in the communication links, packet-dropout rates or induce error in the transmission of the packets. The user can test the system in a large number of possible scenarios and interact with the simulation by just drag-and-drop actions. Four cases of study are provided to show some of the capabilities of the simulation tool.
| Original language | English |
|---|---|
| Article number | 6201211 |
| Pages (from-to) | 14-20 |
| Number of pages | 7 |
| Journal | IEEE Network |
| Volume | 26 |
| Issue number | 3 |
| DOIs | |
| State | Published - 2012 |
| Externally published | Yes |