Planner for a multi robot system with dynamic obstacle avoidance

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Hi,

I'm working with algorithms for path planning of multiple robots and I'm thinking to use ROS and Gazebo to simulate it. I spent a few days to be able to simulate multiple robots in Gazebo and navigate, it seems to work well, but the planners were not performed to work with multiple robots. Is there a package with something like that? Someone tried to implement PSO or other planners like RRT? Any tips for getting started?

Thanks!