Distibuted Multi-Agent Formation Controller based on Laplace Matrix

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

Guidance

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.

Syntax	If True
showTrajectory	show xy trajectory
showDesired	show desired positions
showConnection	show sensing connections between agents
showRealTime	show real time indicator
showCommand	show [vx,vy] commands
saveData	save log data to workspace

3. start the simulation

formation_single

Algorithm Introduction

TODO

TurtleBot3 Simulation

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.