Welcome to Heterogeneous Multi-Agent Systems’s documentation!

Documentation for a Heterogeneous Multi-Agent System (HMAS), developed as part of a PhD thesis.

The CITATION.cff file isn’t update yet.

Here is the GitHub link for this research project: github.com/Amaury-SJ/heterogeneous-multi-agent-systems

Summary: This project aims to design a generic, decentralized, and interoperable system via the ROS 2 middleware, enabling autonomous missions in complex real-world environments, with interaction and collaboration between robots and human operators. Two original approaches to real-time 3D localization are proposed: a RTK GNSS solution for outdoor use and the NAPS nomadic system for indoor use, both offering robust centimeter-level accuracy and suitable for multi-agent systems. A role-based trust model is also introduced to monitor agent behaviors, detect anomalies, and enhance system resilience. All these contributions, integrated into ROS 2, were tested on a real HMAS combining ground and aerial mobile robots.

Keywords: Multi-Agent, Networked mobile robots, Cyber-Physical Systems, ROS 2 middleware, Indoor-Outdoor 3D Localization, Embedded Systems.

Table of contents

Citations and references 📔

• Citations and references

Software and hardware tutorials 💻

• Recording and replaying data with ROS 2
• Use of an Emlid Reach RTK GNSS
• NAPS: high precision indoor positioning
• Geolocation distance calculation

ROS 2 packages developed 📚

• RTK GPS package: receive and publish data via ROS 2
• RViz2 package: system observer via ROS 2

Experiments performed 🤖

• GPS-RTK experiments: precision and stability
• GPS-RTK experiments: real-life application with a hydrogen car

Open science, tips and tricks 🧮

• Create your bibliography with Zotero
• Create your open-source scientific documentation

Our API 💾

• API Reference