Design and Demonstration of a Physical, Multi-Agent Autonomous Controller Testbed
Design and Demonstration of a Physical, Multi-Agent Autonomous Controller Testbed
复制标题
物理多智能体自主控制器测试台的设计和演示
DOI：
--
复制
发表时间：
2017
期刊：
影响因子：
--
通讯作者：
Eric A. Nees
中科院分区：
文献类型：
--
作者：
Eric A. Nees
Nees，Eric A.M.S.E.E.，莱特州立大学电气工程系，2017。物理多智能体自主控制器试验台的设计与演示。导航和控制算法在部署到物理系统之前，通常会在模拟环境中进行测试。尽管模拟环境提供了受控设置来仔细评估性能，但设计的场景有时不切实际，可能会无意中忽略环境或未建模的交互。本文给出了一个物理实验台的设计、实现和实际演示，该实验台能够在小规模的硬件上测试多智能体自主策略。大规模测试算法允许实时探索人类和自主算法在非理想条件下的交互和性能，同时避免全面部署系统的成本和风险。以下是针对这一明确目的的详细机器人设计，以及试验台系统的总体设计，包括软件。利用所描述的系统对一个动态博弈进行了评估，并给出了评估结果。
Nees, Eric A. M.S.E.E., Department of Electrical Engineering, Wright State University, 2017. Design and Demonstration of a Physical, Multi-Agent Autonomous Controller Testbed. Navigation and control algorithms are often tested in a simulated environment before being deployed in physical systems. Although simulated environments provide a controlled setting to carefully evaluate performance, the designed scenarios are sometimes unrealistically ideal and may unintentionally omit circumstances or unmodeled interactions. This thesis presents the design, implementation, and practical demonstration of a physical testbed that enables the testing of multi-agent autonomous strategies in hardware on a small scale. Testing the algorithms at scale allows real-time exploration of the interaction and performance of both human and autonomous algorithms under non-ideal conditions while avoiding the costs and risks of full-scale, deployed systems. Presented in the following is a detailed robot design for this explicit purpose, and the overall design of the testbed system including software. A dynamic game is evaluated using the described system, and the results are presented.