{"id":24741206,"url":"https://github.com/hybridrobotics/vo-polytope","last_synced_at":"2025-03-22T20:13:29.709Z","repository":{"id":243604738,"uuid":"554082615","full_name":"HybridRobotics/vo-polytope","owner":"HybridRobotics","description":"Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems (RA-L 2023)","archived":false,"fork":false,"pushed_at":"2024-06-10T03:14:50.000Z","size":5490,"stargazers_count":6,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"master","last_synced_at":"2025-01-27T23:49:27.813Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":"https://arxiv.org/abs/2304.07954","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/HybridRobotics.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2022-10-19T08:13:40.000Z","updated_at":"2024-12-03T09:56:39.000Z","dependencies_parsed_at":"2024-06-10T05:47:40.795Z","dependency_job_id":"9fb170b1-92d6-46e5-b54c-684648052f6a","html_url":"https://github.com/HybridRobotics/vo-polytope","commit_stats":null,"previous_names":["hybridrobotics/vo-polytope"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fvo-polytope","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fvo-polytope/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fvo-polytope/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/HybridRobotics%2Fvo-polytope/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/HybridRobotics","download_url":"https://codeload.github.com/HybridRobotics/vo-polytope/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":245013993,"owners_count":20547181,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-01-27T23:49:31.447Z","updated_at":"2025-03-22T20:13:29.690Z","avatar_url":"https://github.com/HybridRobotics.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems\nThe source code of the paper \"Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems\" [**RA-Letter**] \n\n| **[`PDF_IEEE`](https://ieeexplore.ieee.org/document/10106436?source=authoralert)** | **[`PDF_Arxiv`](https://arxiv.org/pdf/2304.07954.pdf)** | **[`Video_Youtube`](https://www.youtube.com/watch?v=YT9aObT2VAo)** | \n\n## Citation\n\nIf you find this code or paper is helpful, you can **star** this repository and cite our paper by the following **BibTeX** entry:\n\n```\n@article{huang2023velocity,\n  author={Huang, Jihao and Zeng, Jun and Chi, Xuemin and Sreenath, Koushil and Liu, Zhitao and Su, Hongye},\n  journal={IEEE Robotics and Automation Letters}, \n  title={Velocity Obstacle for Polytopic Collision Avoidance for Distributed Multi-Robot Systems}, \n  year={2023},\n  volume={8},\n  number={6},\n  pages={3502-3509},\n  doi={10.1109/LRA.2023.3269295}\n}\n```\n\n## Prerequisite\n- numpy\n- cvxpy\n- matplotlib\n\n\n## Installation \n```\ngit clone https://github.com/junzengx14/vo-polytope.git\ncd vo-polytope\npip install -e .  \n```\n\n## Run examples\n### Navigation with robots\n```\npython vo_polytope/simulation_experiment/naviagtion_with_robots/multi_polytopic_robots.py\n```\nYou can change the number or shape of robots in 'robot_world.yaml'.\n\n### Navigation with robots and obstacles\n```\npython vo_polytope/simulation_experiment/naviagtion_with_obstacles/naviagtion_with_obstacles.py\n```\nYou can switch the yaml file to see different scenarios, such as 'hybrid_obstacle.yaml' (include both dynamic and static obstacles) or 'dynamic_obstacle.yaml' (only include dynamic obstacles).\n\n### Compare different VO\n```\npython vo_polytope/simulation_experiment/evaluation/evaluate_scenario.py \n```\nYou may change some codes to see different results.\n```\ndes_vel_list = env.get_vo_list_polygon('circle_vo') # polytope_vo\n```\n\n### Random tests\nGet random data and analyze the datas\n```\npython vo_polytope/random_tests/random_evaluate.py \npython vo_polytope/random_tests/data_analysis.py\n```\nYou can change in 'polygon_world.yaml' to get different results. (such as size)\n\n## Save multimedia file\nIf you want to save multimedia file, you first need to save the fig, and then call 'image_to_mp4.py', for example:\n```\npython vo_polytope/simulation_experiment/naviagtion_with_robots/multi_polytopic_robots.py\npython vo_polytope/simulation_experiment/naviagtion_with_robots/image_to_mp4.py\n```\n\n## Contact\nJihao Huang (jihaoh@zju.edu.cn)  \nJun Zeng (zengjunsjtu@berkeley.edu)\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fvo-polytope","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fhybridrobotics%2Fvo-polytope","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fhybridrobotics%2Fvo-polytope/lists"}