Decentralized Weapon-Target Assignment under Asynchronous Communications

This repository contains a ROS package which implements the DACOA algorithm to solve a weapon target assignment problem in real-time on both hardware and simulated systems.

Installation

mkdir -p catkin_ws/src
cd catkin_ws/src
git  clone https://github.com/uf-reef-avl/distributed_wta
cd distributed_wta
git submodule update --init --recursive 

Overview

The ROS Package works both in Gazebo, hardware or a combination of Gazebo and hardware agents. The pacakge also comes with an visualization module to visualize agents, targets and communications on RViz.

Dependencies

geometry_msgs rospy std_msgs tf2 message_generation visualization_msgs

Tested on ROS Melodic with Python 2.7

Citation

TBA

Please contact Katherine Hendrikson or Prashant Ganesh for questions.