{"title":"Event-triggered Coordination of Multi-agent Systems in Agricultural Environments","authors":"J. D. Pabon, E. Mojica-Nava","doi":"10.1109/CCAC.2019.8920970","DOIUrl":null,"url":null,"abstract":"This paper shows the design and simulation of an event-triggered coordination scheme in a multi-agent robotic system. The system is described by a directed graph with dynamic connections, applied to the sowing of seeds in rice crops. A leader-follower topology is implemented in a team of 6 mobile robots, which allows that only one robot has the ability to perform autonomous navigation and the rest of them to be guided by this robot. In addition, a method of positioning for agents is proposed, which does not depend on elements external to the system. Finally, the results obtained are analyzed to determine the feasibility of implementing event-triggered coordination and the cases in which this can be performed.","PeriodicalId":184764,"journal":{"name":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","volume":"142 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2019-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2019 IEEE 4th Colombian Conference on Automatic Control (CCAC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCAC.2019.8920970","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
This paper shows the design and simulation of an event-triggered coordination scheme in a multi-agent robotic system. The system is described by a directed graph with dynamic connections, applied to the sowing of seeds in rice crops. A leader-follower topology is implemented in a team of 6 mobile robots, which allows that only one robot has the ability to perform autonomous navigation and the rest of them to be guided by this robot. In addition, a method of positioning for agents is proposed, which does not depend on elements external to the system. Finally, the results obtained are analyzed to determine the feasibility of implementing event-triggered coordination and the cases in which this can be performed.
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