Goal-oriented Flocking of a Swarm of Simulated Robots in Gazebo

In this study Gazebo model of a mobile robot with differential drive, which is being developed for swarm robotics research, was used in the implementation of goal-oriented flocking behavior. The implemented behavior was run in dynamic scenarios consisting of more than one goal and the performance of goal orientation was examined. In order to facilitate the testing of different scenarios, the scenarios are defined in our own JSON format. This work is a preliminary study of a project based on goal-directed flocking behavior. In later stages, it is planned to develop alternative flocking behavior models for more complex scenarios.