Wiki

Read the Wiki at https://github.com/mzahana/formation/wiki

Formation

Task assignment and planning for multi-robot formation. This is based on linear sum assignment.

References

• M. Turpin, N. Michael, and V. Kumar, “CAPT: Concurrent assignment and planning of trajectories for multiple robots,” The International Journal of Robotics, vol. 22, no. 4, pp. 650–665, 2006.
• Saurav Agarwal and Srinivas Akella, “Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots,” 2018 IEEE International Conference on Robotics and Automation (ICRA) May 21-25, 2018, Brisbane, Australia