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Event-triggered coordination of omnidirectional robots over Gazebo

This work presents a Gazebo Simulation of a Multiagent system conformed by Omnidirectional (3,0) mobile robots. The model consists of integrating a collaborative control that allows agents to achieve consensus and avoid collisions among them and against obstacles. The control strategy for the communication and agreement is event-based to adapt the simulation to the asynchronous behavior of this type of system, while the collision avoidance is in continuous time. The implementation is carried out relying on ROS and MATLAB/Simulink tools to implement the vehicle model and allow the exchange of information between agents. A virtual leader is introduced to provide the agents with a reference and a trajectory to follow.