itskalvik/SOAGF

Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots with Variable Rotation, Scale and Translation

Implementation of "Simultaneous Optimization of Assignments and Goal Formations for Multiple Robots" and a variant of the approach to handle variable rotations of the formation.

Checkout the Blog Post

Reference

Agarwal, Saurav, and Srinivas Akella. "Simultaneous optimization of assignments and goal formations for multiple robots." 2018 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2018.