High-Level Coordination of Multi-Robot Systems for Collective Search

Using ROS and X-klaim for programming robot collective search.

In this scenario, four robots collaborate to locate every flag in the area without prior knowledge of their positions. The robots move randomly, avoid obstacles, and get information on their proximity to the flags. Once the distance falls below a certain threshold, it indicates that the flags have been discovered, and all other robots are notified. When every flag has been located, all robots halt.

Install

1. clone the repository: git clone https://github.com/khalidbourr/Collective_Search_MRS.
2. change directory: cd Collective_Search_ws/Flag_ws/src/multi_robot/worlds.
3. copy models to gazebo.

$ sudo cp -r red_flag ~/.gazebo/models
$ sudo cp -r green_flag ~/.gazebo/models
$ sudo cp -r blue_flag ~/.gazebo/models
$ sudo cp -r white_flag ~/.gazebo/models
$ sudo cp -r basic_box ~/.gazebo/models
$ sudo cp -r walls_evry ~/.gazebo/models

4. Change directory to: cd Collective_Search_ws/Flag_ws
5. Build the workspace: catkin_make

Run scenario

terminal 1:

$ cd Collective_Search_ws/Flag_ws
$ ./bridge.sh

Or simply run: bridge.sh a file exists inside Flag_ws folder

terminal 2

$ cd Collective_Search_ws/Flag_ws
$ ./start.sh