%0 Journal Article
%T Modeling, Simulation, and Characterization of Distributed Multi-agent Systems
%A Reed F. Young
%A Devendra P. Garg
%J Journal of Systemics, Cybernetics and Informatics
%D 2012
%I International Institute of Informatics and Cybernetics
%X A strategy is described that utilizes a novel application of a potential-force function that includes the tuning of coefficients to control mobile robots orchestrated as a distributed multiagent system. Control system parameters are manipulated methodically via simulation and hardware experimentation to gain a better understanding of their impact upon mission performance of the multi-agent system as applied to a predetermined task of area exploration and mapping. Also included are descriptions of experiment infrastructure components that afford convenient solutions to research challenges. These consist of a surrogate localization (position and orientation) function utilizing a novel MATLAB executable (MEX) function and a user datagram protocol (UDP)-based communications protocol that facilitates communication among network-based control computers.
%K Swarming Robots
%K Multi-agent system
%K Potential Function
%K Control
%U www.iiisci.org/Journal/CV$/sci/pdfs/HZA544OI.pdf