Distributed Multi-Robot Formation

Main Features:

• Be able to keep formation while moving (by optimal-point algorithm)
• Support MobileSim and Gazebo simulators
• Support Vicon motion capture system
• Outdoor experiments depend on odometry (by init five robots on one line with 1m interval)

Future Plan:

• Simplify launch files that avoid launch sequence problem
• Apply actionlib to re-construct the communication mechanism
• Optimize framework and reduce computational cost
• Provide algorithm interface to Python and MATLAB