Cooperative planning for heterogeneous robots

[!] This repository is currently under development!

Overview

The project is implement a multi robots system to perform a cooperative mission in unknown environment. The system contains a ground vehicle carrying a fleet of drones performing the task of surveillance.

Running the code

To run simulation:

1. Clone the code
2. Open it with your favorite code editor
3. Running the main.py file to get the simulation results

Result

** Note: there will be some cases that the planner is good, but drones maybe crash, it is because of the incompleteness of the drone controller. Modify the epsilon value in config.py file to prevent the problem.