Agrobots Architecture and Agrobots-Sim Simulator for Dynamic Agri-Robot Coordination

Gutiérrez-Cejudo, Jorge; Lujak, Marin; Fernández, Alberto

doi:10.1007/978-3-031-37593-4_1

Cited by 2 publications

(3 citation statements)

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“…In both problems, the tasks could be as diverse as surveillance, item delivery or pickup, or search and rescue. For all the above reasons, we adapt and extend the Patrolling_SIM package and create Agrobots-SIM [1], explained in detail in the next section.…”

Section: Agrobots-simmentioning

confidence: 99%

“…In this paper, which builds on [1], we propose Agri-RO5, a distributed multi-agent architecture for dynamic fleet simulation that integrates various cutting-edge technologies for a realistic simulation and testing of dynamic agrirobot-fleet-coordination approaches before their employment in the real world. The Agri-RO5 architecture includes advanced simulation tools to tackle the intricate agriculture fleet vehicle routing problem (AF-VRP) in rural areas with low connectivity.…”

Section: Introductionmentioning

confidence: 99%

“…Agri-RO5 builds upon the foundation of Agrobots-SIM [1], a powerful simulation package designed for mobile robot coordination in agriculture. Embracing the vision to develop agrirobot digital twins, our system prioritizes a highly distributed architecture, seamlessly facilitated by the incorporation of SPADE3 [3] and FIVE [4].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Towards Agrirobot Digital Twins: Agri-RO5—A Multi-Agent Architecture for Dynamic Fleet Simulation

Gutiérrez Cejudo,

Enguix Andrés,

Lujak

et al. 2023

Electronics

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In this paper, we propose a multi-agent-based architecture for a Unity3D simulation of dynamic agrirobot-fleet-coordination methods. The architecture is based on a Robot Operating System (ROS) and Agrobots-SIM package that extends the existing package Patrolling SIM made for multi-robot patrolling. The Agrobots-SIM package accommodates dynamic multi-robot task allocation and vehicle routing considering limited robot battery autonomy. Moreover, it accommodates the dynamic assignment of implements to robots for the execution of heterogeneous tasks. The system coordinates task assignment and vehicle routing in real time and responds to unforeseen contingencies during simulation considering dynamic updates of the data related to the environment, tasks, implements, and robots. Except for the ROS and Agrobots-SIM package, other crucial components of the architecture include SPADE3 middleware for developing and executing multi-agent decision making and the FIVE framework that allows us to seamlessly define the environment and incorporate the Agrobots-SIM algorithms to be validated into SPADE agents inhabiting such an environment. We compare the proposed simulation architecture with the conventional approach to 3D multi-robot simulation in Gazebo. The functioning of the simulation architecture is demonstrated in several use-case experiments. Even though resource consumption and community support are still an open challenge in Unity3D, the proposed Agri-RO5 architecture gives better results in terms of simulation realism and scalability.

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Section: Agrobots-simmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%