diff --git a/launch/dummy-cell_ads-table.launch b/launch/cell-controllers/dummy-cell_ads-table.launch
similarity index 100%
rename from launch/dummy-cell_ads-table.launch
rename to launch/cell-controllers/dummy-cell_ads-table.launch
diff --git a/launch/dummy-cell_ceti-table-1-placeworld.launch b/launch/cell-controllers/dummy-cell_ceti-table-1-placeworld.launch
similarity index 100%
rename from launch/dummy-cell_ceti-table-1-placeworld.launch
rename to launch/cell-controllers/dummy-cell_ceti-table-1-placeworld.launch
diff --git a/launch/dummy-cell_ceti-table-1.launch b/launch/cell-controllers/dummy-cell_ceti-table-1.launch
similarity index 100%
rename from launch/dummy-cell_ceti-table-1.launch
rename to launch/cell-controllers/dummy-cell_ceti-table-1.launch
diff --git a/launch/dummy-cell_ceti-table-2-placeworld.launch b/launch/cell-controllers/dummy-cell_ceti-table-2-placeworld.launch
similarity index 100%
rename from launch/dummy-cell_ceti-table-2-placeworld.launch
rename to launch/cell-controllers/dummy-cell_ceti-table-2-placeworld.launch
diff --git a/launch/dummy-cell_ceti-table-2.launch b/launch/cell-controllers/dummy-cell_ceti-table-2.launch
similarity index 100%
rename from launch/dummy-cell_ceti-table-2.launch
rename to launch/cell-controllers/dummy-cell_ceti-table-2.launch
diff --git a/launch/dummy-cell_st-table.launch b/launch/cell-controllers/dummy-cell_st-table.launch
similarity index 100%
rename from launch/dummy-cell_st-table.launch
rename to launch/cell-controllers/dummy-cell_st-table.launch
diff --git a/launch/gazebo-cell_ads-table.launch b/launch/cell-controllers/gazebo-cell_ads-table.launch
similarity index 100%
rename from launch/gazebo-cell_ads-table.launch
rename to launch/cell-controllers/gazebo-cell_ads-table.launch
diff --git a/launch/gazebo-cell_ceti-table-1-placeworld.launch b/launch/cell-controllers/gazebo-cell_ceti-table-1-placeworld.launch
similarity index 100%
rename from launch/gazebo-cell_ceti-table-1-placeworld.launch
rename to launch/cell-controllers/gazebo-cell_ceti-table-1-placeworld.launch
diff --git a/launch/gazebo-cell_ceti-table-1.launch b/launch/cell-controllers/gazebo-cell_ceti-table-1.launch
similarity index 100%
rename from launch/gazebo-cell_ceti-table-1.launch
rename to launch/cell-controllers/gazebo-cell_ceti-table-1.launch
diff --git a/launch/gazebo-cell_ceti-table-2-placeworld.launch b/launch/cell-controllers/gazebo-cell_ceti-table-2-placeworld.launch
similarity index 100%
rename from launch/gazebo-cell_ceti-table-2-placeworld.launch
rename to launch/cell-controllers/gazebo-cell_ceti-table-2-placeworld.launch
diff --git a/launch/gazebo-cell_ceti-table-2.launch b/launch/cell-controllers/gazebo-cell_ceti-table-2.launch
similarity index 100%
rename from launch/gazebo-cell_ceti-table-2.launch
rename to launch/cell-controllers/gazebo-cell_ceti-table-2.launch
diff --git a/launch/gazebo-cell_st-table.launch b/launch/cell-controllers/gazebo-cell_st-table.launch
similarity index 100%
rename from launch/gazebo-cell_st-table.launch
rename to launch/cell-controllers/gazebo-cell_st-table.launch
diff --git a/launch/noop-sim-cell_ceti-table-1-emptyworld.launch b/launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld.launch
similarity index 100%
rename from launch/noop-sim-cell_ceti-table-1-emptyworld.launch
rename to launch/cell-controllers/noop-sim-cell_ceti-table-1-emptyworld.launch
diff --git a/launch/noop-sim-cell_ceti-table-1-placeworld.launch b/launch/cell-controllers/noop-sim-cell_ceti-table-1-placeworld.launch
similarity index 100%
rename from launch/noop-sim-cell_ceti-table-1-placeworld.launch
rename to launch/cell-controllers/noop-sim-cell_ceti-table-1-placeworld.launch
diff --git a/launch/noop-sim-cell_ceti-table-2-placeworld.launch b/launch/cell-controllers/noop-sim-cell_ceti-table-2-placeworld.launch
similarity index 100%
rename from launch/noop-sim-cell_ceti-table-2-placeworld.launch
rename to launch/cell-controllers/noop-sim-cell_ceti-table-2-placeworld.launch
diff --git a/launch/robot-cell_ads-table.launch b/launch/cell-controllers/robot-cell_ads-table.launch
similarity index 100%
rename from launch/robot-cell_ads-table.launch
rename to launch/cell-controllers/robot-cell_ads-table.launch
diff --git a/launch/robot-cell_ceti-table-1-emptyworld.launch b/launch/cell-controllers/robot-cell_ceti-table-1-emptyworld.launch
similarity index 100%
rename from launch/robot-cell_ceti-table-1-emptyworld.launch
rename to launch/cell-controllers/robot-cell_ceti-table-1-emptyworld.launch
diff --git a/launch/robot-cell_ceti-table-1-placeworld.launch b/launch/cell-controllers/robot-cell_ceti-table-1-placeworld.launch
similarity index 100%
rename from launch/robot-cell_ceti-table-1-placeworld.launch
rename to launch/cell-controllers/robot-cell_ceti-table-1-placeworld.launch
diff --git a/launch/robot-cell_ceti-table-1.launch b/launch/cell-controllers/robot-cell_ceti-table-1.launch
similarity index 100%
rename from launch/robot-cell_ceti-table-1.launch
rename to launch/cell-controllers/robot-cell_ceti-table-1.launch
diff --git a/launch/robot-cell_ceti-table-2-placeworld.launch b/launch/cell-controllers/robot-cell_ceti-table-2-placeworld.launch
similarity index 100%
rename from launch/robot-cell_ceti-table-2-placeworld.launch
rename to launch/cell-controllers/robot-cell_ceti-table-2-placeworld.launch
diff --git a/launch/robot-cell_ceti-table-2.launch b/launch/cell-controllers/robot-cell_ceti-table-2.launch
similarity index 100%
rename from launch/robot-cell_ceti-table-2.launch
rename to launch/cell-controllers/robot-cell_ceti-table-2.launch
diff --git a/launch/robot-cell_st-table.launch b/launch/cell-controllers/robot-cell_st-table.launch
similarity index 100%
rename from launch/robot-cell_st-table.launch
rename to launch/cell-controllers/robot-cell_st-table.launch
diff --git a/launch/random_selector_automatic.launch b/launch/debugging/random_selector_automatic.launch
similarity index 100%
rename from launch/random_selector_automatic.launch
rename to launch/debugging/random_selector_automatic.launch
diff --git a/launch/random_selector_manual.launch b/launch/debugging/random_selector_manual.launch
similarity index 100%
rename from launch/random_selector_manual.launch
rename to launch/debugging/random_selector_manual.launch
diff --git a/launch/main_controller_ceti-table-1_preview.launch b/launch/distributed-sorting/main_controller_ceti-table-1_preview.launch
similarity index 100%
rename from launch/main_controller_ceti-table-1_preview.launch
rename to launch/distributed-sorting/main_controller_ceti-table-1_preview.launch
diff --git a/launch/main_controller_virtual_preview.launch b/launch/distributed-sorting/main_controller_virtual_preview.launch
similarity index 100%
rename from launch/main_controller_virtual_preview.launch
rename to launch/distributed-sorting/main_controller_virtual_preview.launch
diff --git a/launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch b/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-1_real_robot.launch
similarity index 100%
rename from launch/main_controller_virtual_preview_ceti-table-1_real_robot.launch
rename to launch/distributed-sorting/main_controller_virtual_preview_ceti-table-1_real_robot.launch
diff --git a/launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch b/launch/distributed-sorting/main_controller_virtual_preview_ceti-table-2_real_robot.launch
similarity index 100%
rename from launch/main_controller_virtual_preview_ceti-table-2_real_robot.launch
rename to launch/distributed-sorting/main_controller_virtual_preview_ceti-table-2_real_robot.launch
diff --git a/launch/object_locator.launch b/launch/object-localization/object_locator.launch
similarity index 100%
rename from launch/object_locator.launch
rename to launch/object-localization/object_locator.launch
diff --git a/launch/tag_detection.launch b/launch/object-localization/tag_detection.launch
similarity index 100%
rename from launch/tag_detection.launch
rename to launch/object-localization/tag_detection.launch