A Testbed Architecture for MAGICC Applications

A testbed is developed for testing Multi-AGent Intelligent Coordination and Control (MAGICC). The robots act as agents which make decisions and act upon them via classical control theory. The testbed consists of sensors( camera and encoders), embedded controllers, modems and a computer network which are integrated into a hierarchical control which has decision makers, controllers, estimators and predictors. The testbed has successfully been applied to initializing the robots into geometric formation. Simulation and Hardware results are presented

Feedback Control For Rob ot Formation Maneuvers

This paper develops control strategies for moving multiple-agents in formation, using a virtual structure. The controls are specifically applied to robots. by introducing feedback from the followers to the coordinating mechanism, the robots are shown to better coordinate their motion. Hardware results are presented