{"id":19584248,"url":"https://github.com/utiasdsl/amswarm","last_synced_at":"2025-04-27T11:31:53.874Z","repository":{"id":106965578,"uuid":"534765871","full_name":"utiasDSL/AMSwarm","owner":"utiasDSL","description":"Repository associated with paper titled \"AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments\", presented at IEEE ICRA 2023.","archived":false,"fork":false,"pushed_at":"2023-10-28T17:07:08.000Z","size":7903,"stargazers_count":15,"open_issues_count":0,"forks_count":5,"subscribers_count":3,"default_branch":"main","last_synced_at":"2023-10-29T17:33:23.663Z","etag":null,"topics":["multiagent-planning","quadrotor-swarm","swarm-robotics"],"latest_commit_sha":null,"homepage":"https://youtu.be/eIBcOKq5_Jk","language":"C","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/utiasDSL.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2022-09-09T18:43:48.000Z","updated_at":"2023-10-29T17:33:23.664Z","dependencies_parsed_at":null,"dependency_job_id":"a82d1783-9899-4fde-a769-4e98811819a8","html_url":"https://github.com/utiasDSL/AMSwarm","commit_stats":null,"previous_names":[],"tags_count":0,"template":null,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/utiasDSL%2FAMSwarm","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/utiasDSL%2FAMSwarm/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/utiasDSL%2FAMSwarm/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/utiasDSL%2FAMSwarm/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/utiasDSL","download_url":"https://codeload.github.com/utiasDSL/AMSwarm/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224069567,"owners_count":17250454,"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":["multiagent-planning","quadrotor-swarm","swarm-robotics"],"created_at":"2024-11-11T07:47:22.443Z","updated_at":"2024-11-11T07:47:23.455Z","avatar_url":"https://github.com/utiasDSL.png","language":"C","funding_links":[],"categories":[],"sub_categories":[],"readme":"# AMSwarm Repository \n\nRepository associated with paper titled \"AMSwarm: An Alternating Minimization Approach for Safe Motion Planning of Quadrotor Swarms in Cluttered Environments\", presented at IEEE ICRA 2023.\n\nVideo: [https://youtu.be/eIBcOKq5_Jk](https://youtu.be/eIBcOKq5_Jk)\n### What's included\n\n* Codes: \n    * Proposed Distributed Alternating Minimizatiom (AM) based approach\n    * Distributed Sequential Convex Programming (SCP) with Continuous Collision Avoidance [1] and On-demand Collision Avoidance [2].\n    * Distributed Trajectory Optimization with Optimal Control Solver ACADO [3] (incorporating discrete-time Barrier Function constraints)\n* Supplementart Material:\n    * Detailed experimental setup\n\n### Simulation Environment Example\n\n![sim_env](amswarm/data/sim_env.png)  \n_Fig. 40 quadrotors in a forest-like cluttered environment. Dark-colored ellipsoids are quadrotors and light-colored ellipsoids are respective goals of each quadrotor. Red-dashed lines represent a workable space, and tall blue cylinders are static obstacles._\n\n### References\n[1] Soria, Enrica, Fabrizio Schiano, and Dario Floreano. \"Distributed Predictive Drone Swarms in Cluttered Environments.\" IEEE Robotics and Automation Letters 7.1 (2021): 73-80.    \n[2] Luis, Carlos E., Marijan Vukosavljev, and Angela P. Schoellig. \"Online trajectory generation with distributed model predictive control for multi-robot motion planning.\" IEEE Robotics and Automation Letters 5.2 (2020): 604-611.  \n[3] Houska, Boris, Hans Joachim Ferreau, and Moritz Diehl. \"ACADO toolkit—An open‐source framework for automatic control and dynamic optimization.\" Optimal Control Applications and Methods 32.3 (2011): 298-312.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Futiasdsl%2Famswarm","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Futiasdsl%2Famswarm","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Futiasdsl%2Famswarm/lists"}