A distributed multi-agent formation controller and corresponding simulation base on mobile robotics simulation toolbox and Gazebo.

1. create a desired formation by manually selecting desired points.

 Create_Formation($xlimit,$ylimit)

• eg: Create_Formation([-8,8],[-8,8])

2. set parameters for visualization in formation_single file.

3. start the simulation

formation_single

TODO

we also create a package for distributed formation control based on Turtlebot3, an open source ROS standard platform robot.

Here is the git repository for gazebo simulation and algorithm implementation on TurtleBot3.