The research paper describing this project is available on arXiv: Robot Conga: A Leader-Follower Walking Approach to Sequential Path Following in Multi-Agent Systems
Robot-Conga is a framework for studying leader–follower sequential path following in multi-agent robotic systems. The project explores coordinated locomotion where one or more leader agents define a trajectory, and follower agents dynamically adjust to maintain a "conga line" formation.
Applications include: - Swarm robotics - Multi-agent coordination - Reinforcement learning - Path planning and following
The project is split into two main repositories:
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🐢 TurtleBot3 (ROS + Gazebo) ROS-based simulation of the leader–follower approach using TurtleBot3 robots in Gazebo. 🌐 Robot-Conga TurtleBot3 ROS/Gazebo Codebase
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🐾 Quadruped (PyBullet) Physics-based quadruped robot convoy simulation in PyBullet. 🌐 Robot-Conga Quadruped PyBullet Codebase
To reproduce the results or run simulations, please refer to the instructions in each repository:
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link: ROS/Gazebo (TurtleBot3)
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link: PyBullet (Quadruped)