├── MultiRobotFormationControl.mp4 ├── MultiRobotFormationControl.pptx ├── README.md ├── Report.pdf └── src ├── python ├── corridor.pgm ├── corridor.yaml ├── map.pgm ├── map.yaml ├── maze.pgm ├── maze.yaml └── rrt.py └── ros ├── formation_move.py ├── formation_move_decentralized.py ├── launch ├── corridor_diamond.launch ├── corridor_line.launch ├── corridor_straight.launch ├── formation_move.launch ├── formation_move_decentralized.launch ├── maze_diamond.launch ├── simple_column.launch ├── simple_diamond.launch └── square_diamond.launch ├── models └── simple_world │ ├── model.config │ └── model.sdf ├── plot_errs.py ├── velocity_controller ├── decentralized_links.py ├── get_combined_velocity.py ├── get_combined_velocity_decentralized.py ├── init_formations.py ├── maintain_formation.py ├── maintain_formation_decentralized.py ├── obstacle_avoidance.py ├── precomputed_rrt_paths.py └── rrt_navigation.py └── worlds ├── corridor.world ├── maze.world ├── simple.world └── square.world 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