#+TITLE: Multi-Robot Localisation

* Simulation

Decide which particle cloud to use:
- ~murl.particles.baseline~: a simple particle filter
- ~murl.particles.centralised~: an attempt at including inter-robot ranging
  data.

Next, begin gazebo with the desired number of robots:

#+begin_src shell
roslaunch murl gazebo.launch robots:=3
#+end_src

Optionally start rviz for robots 0 or 1.

#+begin_src shell
roslaunch murl rviz0.launch
#+end_src

Finally, begin the localisation controller:

#+begin_src shell
roslaunch murl localisation.launch robots:=3 cloud:=murl.particles.baseline
#+end_src