Formation following: Multi-sensor object detection and localization using ROS2 and Gazebo

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.