Modeling, Simulation, and Characterization of Distributed Multi-agent Systems

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.