🎥 Multimedia material

• https://mrs.fel.cvut.cz/rbl

🚀 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 git@github.com:ctu-mrs/rbl.git
git clone git@github.com:ctu-mrs/laserscan_clusters.git
git clone git@github.com:manuelboldrer/uvdar_multirobot_simulator.git
cd ../../
./example_wrapper
cd user_ros_workspace
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release

▶️ run simulation

cd rbl_controller/tmux/mrs_9 
./start.sh

to activate the algorithm go to the pane "activation" and run the last command in history in synchronized mode. try out mrs_9, mrs_16, mrs_9_circle. 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
• Distributed Lloyd-based algorithm for uncertainty-aware multi-robot under-canopy flocking