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1	A Flexible Infrastructure for Multi-Agent Systems Sorensen, Gerrit Addison N 02 July 2005 (has links) (PDF) Multi-Agent coordination and control has been studied for a long time, but has recently gained more interest because of technology improvements allowing smaller, more versatile robots and other types of agents. To facilitate multi-agent experiments between heterogeneous agents, including robots and UAVs, we have created a test-bed with both simulation and hardware capabilities. This thesis discusses the creation of this unique, versatile test-bed for multi-agent experiments, also a unique graph creation algorithm, and some experimental results obtained using the test-bed. multi-agent infrastructure simulation robot capture-the-flag coordination human factors neglect tolerance robot soccer urban environment path-finding graph generation safe-path collision avoidance Electrical and Computer Engineering