Welcome to ChoiRbot!

ChoiRbot is a ROS 2 package developed by Andrea Testa, Andrea Camisa and Giuseppe Notarsefano within the ERC excellence research project OPT4SMART. The aim of ChoiRbot is to provide a comprehensive framework to easily simulate and run experiments on teams of cooperating robots, with a particular focus on peer-to-peer networks of robotic agents without a central coordinator.

The package is already equipped with basic trajectory planning, control and dynamics integration utilities, so that you can already start to test your distributed algorithms on basic robot models such as quadrotors, unicycle-like vehicles and single-integrator dynamical systems. Please refer to API Documentation for a detailed description of the package functionalities.