Decentralised and Cooperative Control of Multi-Robot Systems through Distributed Optimisation

Yi Dong, Zhongguo Li, Xingyu Zhao, Zhengtao Ding, Xiaowei Huang

Before you start

Makesure you are running on Ubuntu 18.04 with ROS melodic and Gazebo 9

Quick Start

cd ROS_ws/src && git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
git clone -b melodic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
cd .. && catkin_make

source devel/setup.bash

roslaunch consensus 4turtlebot.launch

Open a new windows

source devel/setup.bash
rosrun consensus control_robots.py