Initial Alpha Release

This is the 3rd major release of the UNM-NASA Swarmathon code corresponding with the 3rd year of the competition.

This is a release that changes the structure of the robot logic package. Now called "behaviours" rather than "mobility". The intent of the changes is to make the logic more modular and object oriented. We have moved to a controller based approach inspired by Rodney Brooks' subsumption architecture. The Logic controller is the top layer with various other controllers able to interrupt and take over control in order to accomplish specific tasks such as obstacle avoidance or target pickup.

This release is compatible with kinetic kame and Ubuntu 16.04 xenial xerus.

The model files have been updated to fix problems with the mass and inertias. This allows more accurate physics and an increase in simulation speed.

This is an alpha release so it is under active development. We encourage the community of users to suggest fixes and improvements.