Estudio, control e implementación de sistemas robóticos avanzados: Control cooperativo de un sistema multi-agente para la resolución de tareas complementarias.

Abstract

The purpose of this work is to perform the simulation and execution of a cooperative control of a heterogeneous multi-agent system for the resolution of complementary tasks through the ROS (Robot Operating System) development framework, in conjunction with the simulation tools Gazebo and RViz. The performed actions are the Simultaneous Autonomous Mapping and Localization (SLAM) by means of an aerial robotic agent, of the Quadrotor type, and the Autonomous Navigation through the mobile platform TurtleBot 3. At the same time, the different actions performed by the robotic agents are structured and integrated with the help of the ROS functionalities in order to obtain two code release files. One exemplifies the SLAM task, while the other for the Autonomous Navigation task. In addition, the cooperative control of the multi-agent system is tested in two different scenarios created by Gazebo, in order to verify and guarantee the Autonomous Navigation by the TurtleBot 3. This is carried out by, having previously as reference the two dimensional plane obtained by the SLAM task executed by the Quadrotor.