ROS 2 Multi Robot System (MRS) with Collective Intelligence example

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We are looking for a minimal ROS 2 example that includes more than one robots (2 is fine) that also includes a coordination algorithm (collective intelligence). There is no need for this to be something complicated and clever, just a minimal example for a case study. We looked on the web and we only found some very complicated examples thus I wonder if any of you knows if and where we can find a simple example (preferably in Python). We are using ROS 2 Foxy.