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Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay #\n\n#### **Accepted to IEEE Robotics and Automation Letters (RA-L)**  \n#### **Accepted to 2023 IEEE International Conference on Robotics and Automation (ICRA)**\n#### **Awarded Best Poster Award at 2023 IEEE International Conference on Robotics and Automation (ICRA) CAMRS Workshop**\n\n|4 agents with 2 dynamic obstacles|6 agents with 2 dynamic obstacles|\n| ------------------------- | ------------------------- |\n\u003ca target=\"_blank\" href=\"https://youtu.be/i1d8di2Nrbs\"\u003e\u003cimg src=\"./rmader/imgs/4agent2obs_shorter.gif\" width=\"400\" height=\"221\" alt=\"Hardware experiment: 4 agent with 2 dynamic obstacles\"\u003e\u003c/a\u003e | \u003ca target=\"_blank\" href=\"https://youtu.be/i1d8di2Nrbs\"\u003e\u003cimg src=\"./rmader/imgs/6agent2obs_shorter.gif\" width=\"400\" height=\"221\" alt=\"Hardware experiment: 6 agent with 2 dynamic obstacles\"\u003e\u003c/a\u003e | \n\n|10 agents under 300ms comm. delay|10 agents with 10 dynamic obstacles under 50ms comm. delay |\n| ------------------------- | ------------------------- |\n|\u003ca target=\"_blank\" href=\"https://youtu.be/i1d8di2Nrbs\"\u003e\u003cimg src=\"./rmader/imgs/rmader_cd300_sim_github.gif\" width=\"400\" height=\"221\" alt=\"Simulation: 10 agents under 300ms comm. delay\"\u003e\u003c/a\u003e | \u003ca target=\"_blank\" href=\"https://youtu.be/i1d8di2Nrbs\"\u003e\u003cimg src=\"./rmader/imgs/rmader_obs_sim_github.gif\" width=\"400\" height=\"221\" style=\"margin:20px 20px\" alt=\"Simulation: 10 agents with 10 dynamic obstacles under 50ms comm. delay\"\u003e\u003c/a\u003e|  \n\n## Citation\n\n(RA-L preprint)  [Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments](https://arxiv.org/abs/2303.06222) ([pdf](https://arxiv.org/abs/2303.06222), [video](https://youtu.be/i1d8di2Nrbs)):\n\n```bibtex\n@article{kondo2023robust,\n  title={Robust MADER: Decentralized Multiagent Trajectory Planner Robust to Communication Delay in Dynamic Environments},\n  author={Kondo, Kota and Figueroa, Reinaldo and Rached, Juan and Tordesillas, Jesus and Lusk, Parker C and How, Jonathan P},\n  journal={arXiv preprint arXiv:2303.06222},\n  year={2023}\n}\n```\n\n(ICRA Paper) [Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay](https://arxiv.org/abs/2209.13667) ([pdf](https://arxiv.org/abs/2209.13667), [video](https://youtu.be/vH09kwJOBYs)):\n\n```bibtex\n@INPROCEEDINGS{10161244,\n  author={Kondo, Kota and Tordesillas, Jesus and Figueroa, Reinaldo and Rached, Juan and Merkel, Joseph and Lusk, Parker C. and How, Jonathan P.},\n  booktitle={2023 IEEE International Conference on Robotics and Automation (ICRA)}, \n  title={Robust MADER: Decentralized and Asynchronous Multiagent Trajectory Planner Robust to Communication Delay}, \n  year={2023},\n  volume={},\n  number={},\n  pages={1687-1693},\n  doi={10.1109/ICRA48891.2023.10161244}}\n```\n\n## General Setup\n\nRMADER has been tested with Ubuntu 20.04/ROS Noetic\n\n### Not Using Docker\n\nThe backend optimizer is Gurobi. Please install the [Gurobi Optimizer](https://www.gurobi.com/products/gurobi-optimizer/), and test your installation typing `gurobi.sh` in the terminal. Have a look at [this section](#issues-when-installing-gurobi) if you have any issues.\n\nThen simply run this commands:\n\n```bash\ncd ~/ \u0026\u0026 mkdir ws \u0026\u0026 cd ws \u0026\u0026 mkdir src \u0026\u0026 cd src\ngit clone https://github.com/mit-acl/rmader.git\ncd ..\nbash src/rmader/install_and_compile.sh      \n```\n\nThe script [install_and_compile.sh](https://github.com/mit-acl/rmader/blob/master/install_and_compile.sh) will install [CGAL v4.12.4](https://www.cgal.org/), [GLPK](https://www.gnu.org/software/glpk/) and other ROS packages (check the script for details). It will also compile the repo. This bash script assumes that you already have ROS installed in your machine. \n\n### Using Docker\n\nInstall Docker using [this steps](https://docs.docker.com/engine/install/ubuntu/#install-using-the-repository), and remove the need of `sudo` following [these steps](https://docs.docker.com/engine/install/linux-postinstall/). Then follow these steps:\n\n```bash\ncd ~/ \u0026\u0026 mkdir ws \u0026\u0026 cd ws \u0026\u0026 mkdir src \u0026\u0026 cd src\ngit clone https://github.com/mit-acl/rmader.git\n```\n\nFor Gurobi, you need to download gurobi.lic file from [Gurobi Web License Manager](https://license.gurobi.com/manager/licenses) (more info [here](https://www.gurobi.com/web-license-service/)). A gurobi.lic not obtained through WLS will **not** work on docker. Place your gurobi.lic in [docker](https://github.com/mit-acl/rmader/docker) folder and execute these commands:\n\n```bash\ncd ./rmader/rmader/docker\ndocker build -t rmader . #This will probably take several minutes\n```\nOnce built, \n```\ndocker run --volume=$PWD/gurobi.lic:/opt/gurobi/gurobi.lic:ro -it rmader\n```\n\n\u003cdetails\u003e\n  \u003csummary\u003e \u003cb\u003eUseful Docker commands\u003c/b\u003e\u003c/summary\u003e\n  \n```bash\ndocker container ls -a  #Show a list of the containers\ndocker rm $(docker ps -aq) #remove all the containers\ndocker image ls #Show a lis of the images\ndocker image rm XXX #remove a specific image\n\n### lambda machine simulation\ndocker build -f rmader/rmader/docker/Dockerfile -t rmader .\ndocker run --cpus=48 --volume=/home/kkondo/rmader_project/rmader_ws/src/rmader/rmader/docker/gurobi.lic:/opt/gurobi/gurobi.lic:ro --volume=/home/kkondo/data:/home/kota/data -it rmader\n```\n\n\u003c/details\u003e\n\n### Running Multiagent Simulations with 10 agents\n\n\u003e **Note**: For a high number of agents, the performance of RMADER improves with the number of CPUs available in your computer. \n\n```\nroscd rmader \u0026\u0026 cd script \u0026\u0026 python run_rmader.py\n```\n\n(if you want to modify the parameters, you can do so in `rmader.yaml`).\n\n## Issues when installing Gurobi:\n\nIf you find the error:\n```\n“gurobi_continuous.cpp:(.text.startup+0x74): undefined reference to\n`GRBModel::set(GRB_StringAttr, std::__cxx11::basic_string\u003cchar,\nstd::char_traits\u003cchar\u003e, std::allocator\u003cchar\u003e \u003e const\u0026)'”\n```\nThe solution is:\n\n```bash\ncd /opt/gurobi800/linux64/src/build  #Note that the name of the folder gurobi800 changes according to the Gurobi version\nsudo make\nsudo cp libgurobi_c++.a ../../lib/\n```\n## Credits:\nThis package uses some C++ classes from the [DecompROS](https://github.com/sikang/DecompROS) repo (included in the `thirdparty` folder).\n\n\u003e **Approval for release**: This code was approved for release by The Boeing Company in [NEED TO FILL]. \n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-acl%2Frmader","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmit-acl%2Frmader","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmit-acl%2Frmader/lists"}