I. Introduction
The development of multi-agent systems has been of crucial importance in modern autonomous agent-based applications, such as area coverage [1]–[3], perimeter surveillance and environment monitoring [4]–[6], cooperative estimation and formation control [7]–[10], indoor navigation using mobile robots [11], among others. Typical motion control and/or navigation problems in such applications are usually addressed using multi-agent algorithms that employ an array of networked mobile agents operating collectively. Recently, the implementation of various algorithms has been restricted to a fleet of homogeneous robots at high monetary cost, see a recent ROS-based multi-agent system in [12], for example, where ALLIANCE-ROS software architecture is developed on commercially available robots with a laptop (mounted on each robot) dedicated for implementing software architecture for the cooperative multi-robot systems.