| Issue |
MATEC Web Conf.
Volume 417, 2025
2025 RAPDASA-RobMech-PRASA-AMI Conference: Bridging the Gap between Industry & Academia - The 26th Annual International RAPDASA Conference, joined by RobMech, PRASA and AMI, co-hosted by CSIR and Tshwane University of Technology, Pretoria
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| Article Number | 04009 | |
| Number of page(s) | 16 | |
| Section | Robotics and Mechatronics | |
| DOI | https://doi.org/10.1051/matecconf/202541704009 | |
| Published online | 25 November 2025 | |
Formation following: Multi-sensor object detection and localization using ROS2 and Gazebo
1 CSIR, Centre for Robotics and Future Production, South Africa
2 CSIR, Next Generation Enterprises and Institution, South Africa
* Corresponding author: bveden@csir.co.za
Formation control is essential in multi-robot systems, enabling efficient navigation, coordination, and task execution in dynamic environments. This work presents a vision-based approach for formation following using three robots. Each robot is identified by a unique colour and recognised using YOLOv8. The recognition output is combined with LiDAR distance measurements to facilitate waypoint navigation and formation maintenance. A set of hardcoded rules ensures proper formation control. The proposed method is tested in a structured environment, demonstrating effective multi-robot coordination.
© The Authors, published by EDP Sciences, 2025
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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