swarm_simulator

This package presents an efficient multi-agent trajectory planning algorithm which generates safe trajectories in obstacle-dense environments. Our algorithm combines the advantages of both grid-based and optimization-based approaches, and generates safe, dynamically feasible trajectory without suffering from an errorneous optimization setup such as imposing infeasible collision constraints. The details can be found at the following link.

Authors: Jungwon Park, Junha Kim, Inkyu Jang and H. Jin Kim from LARR, Seoul National Univ.
Paper: Efficient Multi-Agent Trajectory Planning with Feasibility Guarantee using Relative Bernstein Polynomial PDF Link
Video: Youtube Link

0. Dependencies

Following sources are used to implement this package.

1. Install

(1) Install ROS Kinetic (for Ubuntu 16.04) or Melodic (for Ubuntu 18.04).

(2) Install CPLEX and fix CMAKELIST depending on intallation location. For instance:

set(CPLEX_PREFIX_DIR /opt/ibm/ILOG/CPLEX_Studio129)

(3) At terminal:

sudo apt-get install python-matplotlib python-numpy python2.7-dev
cd ~/catkin_ws/src
git clone https://github.com/qwerty35/swarm_simulator.git
cd ../
catkin_make
source ~/catkin_ws/devel/setup.bash

2. Demo

roslaunch swarm_planner plan_rbp_random_forest.launch

3. Simulation Configuration

You can configure the simulation setting at the launch file, plan_rbp_random_forest.launch.

(1) Mission: You can deploy the mission by editing the json file in swarm_planner/missions directory.

(2) Environment: In plan_rbp_random_forest.launch, If 'replay' tag is false, it runs the simulation at the random forest. If 'replay' tag is true, it runs the simulation at the map specified at 'replay_map' tag. Map files are located in swarm_planner/worlds, and should be octomap bt files.

(3) Sequential planning: For sequential planning, 'plan_sequential' tag in should be true. You can change the batch size at 'plan_batch_size' tag.

3. Notes