ROS-based Formation Control and Collaborative Tracking of Multi-vehicle Systems

Multi-agent systems with complicated structures and diverse categories can be widely applied in intelligent traffic control and dynamic resource allocation of network systems. In this paper, we focused on MAS systems exactly with 5 different vehicles based on the ROS platform to explore 3 self-built custom Gazebo environments (e.g., Playground, Gas Station, House) and designed several different formation control and collaborative tracking missions separately for each scenario such as (1) Multi-agent PID formation control and collaborative tracking for static objects. (2) Visual tracking and ROS node tracking of multiple unmanned vehicles. (3) YOLO-V3 object detection controlled mission and multi-vehicle systems with autonomous navigation.