Abstract
This paper proposes a networked multi-agent system based on the real-time Ethernet. The developed system consists of a set of smart networked agents, which are connected by a ring topology through the real-time Ethernet. Each networked agent is designed to realize motion control tasks and real-time communication capabilities using digital signal processor and field-programmable gate array technologies. Furthermore, a real-time communication protocol is proposed to cope with the non-deterministic problem of Ethernet. Then, time delays caused by data processing and message transmission are analyzed. A platform is built to evaluate the capabilities of the developed networked multi-agent system. The experimental results demonstrate that the presented system achieves good performance in terms of real-time communication and servo-control performance.
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© 2011 Springer-Verlag Berlin Heidelberg
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Xu, X., Xiong, Z., Wu, J., Zhu, X. (2011). Development of a Networked Multi-agent System Based on Real-Time Ethernet. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7101. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25486-4_36
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DOI: https://doi.org/10.1007/978-3-642-25486-4_36
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-25485-7
Online ISBN: 978-3-642-25486-4
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