formation

A ROS package for multi-agent formation/rendezvous

Acknowledgement

Xu Fang, Chen Wang, Lihua Xie, Jie Chen, "Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader", IEEE Transactions on Cybernetics, 2020.

Install Dependencies

Only Ubuntu 16 (ROS Kinetic) is supported.

  sudo apt install python-tk
  sudo apt install ros-kinetic-hector-*
  sudo apt install ros-kinetic-hardware-interface
  sudo apt install ros-kinetic-controller-interface
  sudo apt install ros-kinetic-gazebo-ros-control

Put following repo in your ROS workspace

  https://github.com/tu-darmstadt-ros-pkg/hector_quadrotor

Compile (catkin_make) then Run

  roslaunch formation multiquadcopters.launch

The simulation for formation control (click to watch video):

<img src="https://img.youtube.com/vi/TrHX4kf0_jU/maxresdefault.jpg" width="100%">

The simulation for rendezvous control (pursuit):

<img src="https://img.youtube.com/vi/-UGwG7mGVNw/maxresdefault.jpg" width="100%">

Please consider cite:

  @article{fang2020cooperative,
    title={Cooperative pursuit with multi-pursuer and one faster free-moving evader},
    author={Fang, Xu and Wang, Chen and Xie, Lihua and Chen, Jie},
    journal={IEEE transactions on cybernetics},
    year={2020},
    publisher={IEEE}
  }