for more control of the robot to detect friends can refer to the source, I wrote, It is based on Matlab programming, the better will be completed in the context of exploration tasks.

matlab-robot-control
....................\11111.m
....................\1213131tiaow.m
....................\bjval.m
....................\cond.m
....................\data-100.m
....................\goatr.m
....................\M.m
....................\multirobot.m
....................\rexp.m
....................\runt.m
....................\scanp.m
....................\team.m
....................\tiao1.m
....................\tiao3.m
....................\tiaoshi.m
....................\tiaow.m
....................\tu.m
....................\zhouweidian.m

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