ROS-formation-and-attakcer

There are five robots in a consensus formation. They can communicate with each other by a communication topology and correct their position. While there is an attacker who can attack the formation by disguising as an obstacle. These programs can work in ROS.

There is a video to play:

The ROS structer is:

At first, there is a formation

Then there is an attacker who is willing to attack the formation

You can run tb3.lauch in Gazebo to create this robot models