Gutiérrez Cejudo, J.; Enguix Andrés, F.; Lujak, M.; Carrascosa Casamayor, C.; Fernandez, A.; Hérnandez López, L. (2024). Towards Agrirobot Digital Twins: Agri-RO5 A Multi-Agent Architecture for Dynamic Fleet Simulation. Electronics. 13(1). https://doi.org/10.3390/electronics13010080
Por favor, use este identificador para citar o enlazar este ítem: http://hdl.handle.net/10251/203884
Título:
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Towards Agrirobot Digital Twins: Agri-RO5 A Multi-Agent Architecture for Dynamic Fleet Simulation
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Autor:
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Gutiérrez Cejudo, Jorge
Enguix Andrés, Francisco
Lujak, Marin
Carrascosa Casamayor, Carlos
Fernandez, Alberto
Hérnandez López, Luís
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Entidad UPV:
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Universitat Politècnica de València. Escola Tècnica Superior d'Enginyeria Informàtica
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Fecha difusión:
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Resumen:
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[EN] 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 ...[+]
[EN] 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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Palabras clave:
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Distributed MAS
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Unity3D
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SPADE3
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FIVE
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Agrirobots
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ROS
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Multi-robot task allocation
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Multi-robot routing
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Multi-robot simulation
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Derechos de uso:
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Reconocimiento (by)
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Fuente:
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Electronics. (eissn:
2079-9292
)
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DOI:
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10.3390/electronics13010080
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Editorial:
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MDPI AG
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Versión del editor:
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https://doi.org/10.3390/electronics13010080
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Código del Proyecto:
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info:eu-repo/grantAgreement/AEI/Plan Estatal de Investigación Científica y Técnica y de Innovación 2021-2023/PID2021-123673OB-C33/ES/SERVICIOS INTELIGENTES COORDINADOS PARA AREAS INTELIGENTES ADAPTATIVAS/
info:eu-repo/grantAgreement/AGENCIA ESTATAL DE INVESTIGACION//PRE2022-101563//SERVICIOS INTELIGENTES COORDINADOS PARA AREAS INTELIGENTES ADAPTATIVAS
/
info:eu-repo/grantAgreement/AEI//PID2021-123673OB-C31//SERVICIOS INTELIGENTES COORDINADOS PARA ÁREAS INTELIGENTES ADAPTATIVAS/
info:eu-repo/grantAgreement/MINECO//VAE TED2021-131295B-C31/
info:eu-repo/grantAgreement/AEI//TED2021-131295B-C33/
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Agradecimientos:
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This work was partially supported by grants PID2021-123673OB-C32, PID2021-123673OBC33, TED2021-131295B-C31 and TED2021-131295B-C33 funded by MCIN/AEI/10.13039/501100011033 and by ERDF A way of making Europe and the ...[+]
This work was partially supported by grants PID2021-123673OB-C32, PID2021-123673OBC33, TED2021-131295B-C31 and TED2021-131295B-C33 funded by MCIN/AEI/10.13039/501100011033 and by ERDF A way of making Europe and the European Union NextGenerationEU/PRTR ,
respectively, as well as the Agrobots Project funded by the Community of Madrid, Spain, and the AGROBOTIX Project funded by the University Rey Juan Carlos.
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Tipo:
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Artículo
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