https://github.com/wang-chen/formation

ROS package for formation and rendezvous of multi-drone (T-Cyber 2020)
https://github.com/wang-chen/formation

formation-control multi-agent rendezvous ros

Last synced: about 2 months ago
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ROS package for formation and rendezvous of multi-drone (T-Cyber 2020)

• Host: GitHub
• URL: https://github.com/wang-chen/formation
• Owner: wang-chen
• License: gpl-3.0
• Created: 2017-05-05T07:34:26.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2023-02-23T18:18:27.000Z (almost 2 years ago)
• Last Synced: 2024-11-01T03:53:12.265Z (2 months ago)
• Topics: formation-control, multi-agent, rendezvous, ros
• Language: Python
• Homepage:
• Size: 53.7 KB
• Stars: 39
• Watchers: 3
• Forks: 9
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • Funding: .github/FUNDING.yml
  • License: LICENSE

Awesome Lists containing this project

README

        
# formation

A ROS package for multi-agent formation/rendezvous 

### Acknowledgement

   [Xu Fang](https://scholar.google.com/citations?user=w8vxb4gAAAAJ&hl=en), [Chen Wang](https://wang-chen.github.io), [Lihua Xie](https://www.ntu.edu.sg/home/elhxie/), [Jie Chen](https://baike.baidu.com/item/%E9%99%88%E6%9D%B0/3890094), "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):

     

   [](https://youtu.be/TrHX4kf0_jU)

# The simulation for rendezvous control (pursuit):

   [](https://youtu.be/-UGwG7mGVNw)

# 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}

      }