is there any ros package that can be used for swarm split and recombine in the same environment.
suppose i have 20 robots moving as swarm and there is obstacle/threat, so in that case and the swarm should splits, and flock together once the threat is gone.
i feel there is some inbuilt package but i am not able to find.
Take a look at this package http://wiki.ros.org/micros_swarm_fram...
There is an example of swarm separation that may help.