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Event-triggered Coordination of Multi-agent Systems in Agricultural Environments

This paper shows the design and simulation of an event-triggered coordination scheme in a multi-agent robotic system. The system is described by a directed graph with dynamic connections, applied to the sowing of seeds in rice crops. A leader-follower topology is implemented in a team of 6 mobile robots, which allows that only one robot has the ability to perform autonomous navigation and the rest of them to be guided by this robot. In addition, a method of positioning for agents is proposed, which does not depend on elements external to the system. Finally, the results obtained are analyzed to determine the feasibility of implementing event-triggered coordination and the cases in which this can be performed.