This is an implementation of formation navigation algorithm described in IROS 2015 paper "Multi-Robot Navigation in Formation Via Sequential Convex Programming"
Multi-Robot Navigation in Formation Via Sequential Convex Programming
J. Alonso-Mora, S. Baker, and R. Siegwart
IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, 2015
src/
├── proto
└── test
main test files are UavTest.cpp and UavTest3D.cpp.
python/
├── examples
│ ├── data
│ └── gif
└── irispy
├── __pycache__
└── test
- python: python scripts begin with 'vis' are for visualization
- examples/data: some formation navigation scenes(protocol buffer) I generated
- examples/gif: gif of the scenes in examples/data
Require environment of the followings'
mkdir build
cd build
cmake .. [-DV2D=ON]
make
bin/test/uavTest3D > log
python python/vis3d_all_in_one.py