Simulates cooperative exploration using 1..n robots. The robots can work independently or employ cooperative localisation where they estimate eachothers' pose. These options are set by the arguements passed to the constructor for the class Simulation.
The robots can employ one or more behaviours, which they switch between based on their potential utility. These can be included/excluded by setting the appropriate flags in the constructor for the class BehaviourData.
The simulation currently works on a single computer with communication between robots and board simulated using shared memory. Will soon be extended to allow execution on different machines with communication via sockets, and eventually over bluetooth.
By Declan O'Beirne