Distributed Autonomous Systems Project

To run task 1 which is used to estimate the position of some targets with the help of multiple agents in a distributed manner run the following:

cd task1
python3 run_task1.py

To run task 2.1 where each agent approaches a target while keeping the formation tight using aggregative tracking run the following:

cd task_2_1
python3 main.py

To run task 2.2 which is the ROS2 implementation of task 2.1 run the following:

cd task_2_2
colcon build --symlink-install
. install/setup.bash
ros2 launch aggregative_tracking aggregative_tracking.launch.py