Multi-robot coalition formation for precision agriculture scenario based on gazebo simulator

Abstract

Nowadays, the study of interaction models of intelligent agents is one of the main research directions in the field of collaborative robotics. It includes studies of coalition formation principles, tasks decomposition and distribution, winnings sharing, and implementation of proposed techniques and models. This work focuses on presenting environment and robots states in smart space during joint task solving as well as modelling and visualizing the interaction process using open software Gazebo and Robotic Operation System. The ontology of robot is presented that combines description of the robot equipment and physical characteristics. To provide variability in robot interaction, some of the concepts are evaluated with fuzzy sets. The architecture of modelling approach is presented based on the combination of smart-space concept for ontology-based information exchange between robots, Robotic Operation System for robot control, and Gazebo simulator for modelling and visualizing robot actions in 3D environment. The example of interaction is presented based on precision agriculture scenario.