🚀 Prerequisites

Ensure you have the following installed:

• ** MRS System **
  Follow setup instructions here: MRS Apptainer GitHub

---

🛠 Prepare the Workspace

cd ~/git/mrs_apptainer/user_ros_workspace/src
git clone [email protected]:ctu-mrs/rbl_controller.git
git clone [email protected]:ctu-mrs/laserscan_clusters.git
cd ../../
./example_wrapper
cd user_ros_workspace
catkin build 

▶️ run simulation

cd rbl_controller/tmux/mrs_9_uvdar
./start.sh

to activate the algorithm go to the pane "activation" and run the last command in history in synchronized mode.

This code was used for some of the results reported in the following papers:

• Rule-Based Lloyd Algorithm for Multi-Robot Motion Planning and Control with Safety and Convergence Guarantees
• Swarming in the Wild: A Distributed Communication-less Lloyd-based Algorithm dealing with Uncertainties