Event-triggered Coordination of Multi-agent Systems in Agricultural Environments

Juan David Pabon Arias1, Eduardo Mojica-Nava2

  • 1Universidad Nacional de Colombia
  • 2National University of Colombia

Details

09:10 - 09:30 | Thu 17 Oct | Orinoco | T2-1-1

Session: Multi-robot systems

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 have 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.