alvintang6 / robot_formation

formation control of multi-agent/vehicles for master thesis

robot_formation

Its a project of my master thesis.

Robots testing environment

Overall

The robots should form a designed formation pattern when moving with a desired direction and velocity, meanwhile,the robots need keep other robots inside the visible zone.

A video can be seen at Youtube robot formation

Robots testing environment

The project uses ROS (Jetson TX2) as high-level control, STM32 based MCU as Low-level control.

robot_formation's Issues

Using the code

This repo seems to be a work well done, but the starting point is missing: the readme with proper instructions for starting using the code!

I wanna use and cite, of course, this, but

• how can I start the code?
• how can i modify it to avoid the field of view constraint?
• How the robot are controlled? in velocity in voltage on the actuators?
• which is the formation control scheme? how is it work?

I will be very grateful if you answer this question!