A basic multi-robot control framework

Capabilities:

• Control the hand point of a robot (as a linear system) via feedback linearization
• Distributed launch for 1-5 robots from your own laptop as a master
• Keyboard teleoperation for 1-5 robots at the same time
• Each robot can track a desired trajectory

Drawbacks:

• Localization only depend on odometry
• Parameters are hard codes

Future Plan:

• Localization by VICON motion capture system
• Set parameters in launch files or by dynamic reconfigure
• Develop sonar sensors to avoid collision
• Implement some other multi-agent algorithms
• Add more details into tutorials