https://github.com/caomuqing/neptune
A trajectory planning framework for multiple robots: paper accepted in IEEE T-RO
https://github.com/caomuqing/neptune
multiagent-planning multirobot planning robotics
Last synced: 6 months ago
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A trajectory planning framework for multiple robots: paper accepted in IEEE T-RO
- Host: GitHub
- URL: https://github.com/caomuqing/neptune
- Owner: caomuqing
- License: bsd-3-clause
- Created: 2022-04-09T13:20:42.000Z (over 3 years ago)
- Default Branch: main
- Last Pushed: 2023-09-15T06:07:42.000Z (about 2 years ago)
- Last Synced: 2023-09-15T21:26:35.969Z (about 2 years ago)
- Topics: multiagent-planning, multirobot, planning, robotics
- Language: C++
- Homepage:
- Size: 21.9 MB
- Stars: 27
- Watchers: 3
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# NEPTUNE: Non-Entangling Trajectory Planning for Multiple Tethered Unmanned Vehicles #
### **Accepted for publication in IEEE Transactions on Robotics (T-RO)**
A trajectory planning framework for multiple tethered robots. It also works for multiple untethered robots, with a simple change of a parameter (set `enable_entangle_check` to False).
###
## Citation
If you find this package useful, please cite [NEPTUNE: Non-Entangling Planning for Multiple Tethered Unmanned Vehicles](https://arxiv.org/abs/2212.01536) ([pdf](https://arxiv.org/abs/2212.01536), [video](https://youtu.be/8b1RlDvQsi0)):
```bibtex
@ARTICLE{cao2023neptune,
author={Cao, Muqing and Cao, Kun and Yuan, Shenghai and Nguyen, Thien-Minh and Xie, Lihua},
journal={IEEE Transactions on Robotics},
title={NEPTUNE: Nonentangling Trajectory Planning for Multiple Tethered Unmanned Vehicles},
year={2023},
volume={},
number={},
pages={1-19},
doi={10.1109/TRO.2023.3264950}}
```
## General Setup
NEPTUNE has been tested with Ubuntu 16.04/ROS Kinetic and Ubuntu 18.04/ROS Melodic
This package requires [Gurobi Optimizer](https://www.gurobi.com/products/gurobi-optimizer/) (free academic lisence available). You can test your installation typing `gurobi.sh` in the terminal.
Install some necessary libraries:
```bash
sudo apt-get install libgmp3-dev libmpfr-dev tmux xterm -y
```
Install CGAL library:
```bash
mkdir -p ~/library/cgal #this command creates a folader named library in your home directory
#alternatively you can use another location
cd ~/library/cgal
wget https://github.com/CGAL/cgal/releases/download/releases%2FCGAL-4.14.2/CGAL-4.14.2.tar.xz
tar -xf CGAL-4.14.2.tar.xz
cd CGAL-4.14.2/
cmake . -DCMAKE_BUILD_TYPE=Release
sudo make install
```
Create a workspace and clone NEPTUNE and its submodules:
```bash
cd ~/ && mkdir catkin_ws_neptune && cd catkin_ws_neptune && mkdir src && cd src
git clone https://github.com/caomuqing/neptune.git
cd neptune && git submodule init && git submodule update
```
Build the packages:
```bash
cd ~/catkin_ws_neptune
rosdep install --from-paths src --ignore-src -r -y
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build
```
If catkin build results in error due to Gurobi:
```
“gurobi_continuous.cpp:(.text.startup+0x74): undefined reference to
`GRBModel::set(GRB_StringAttr, std::__cxx11::basic_string, std::allocator > const&)'”
```
The solution is:
```bash
cd /opt/gurobi912/linux64/src/build #the location depends on your installation directory
sudo make
sudo cp libgurobi_c++.a ../../lib/
```
## Running Simulations
### Single-agent
To launch:
```
cd ~/catkin_ws_neptune && bash src/neptune/neptune_single_benchmark.sh
```
To shut down all processes, use the shutdown [commands](#cleanly-shut-down-simulation)
### Multi-agent obstacle-free
The command below launches 5 robots with random goals automatically sent to them. It is best if your PC has more than 5 CPU cores.
```
cd ~/catkin_ws_neptune && bash src/neptune/neptune_mtlp_benchmark.sh
```
To shut down all processes, use the shutdown [commands](#cleanly-shut-down-simulation)
### Multi-agent obstacle-rich
To launch:
```
cd ~/catkin_ws_neptune && bash src/neptune/neptune_multi_obstacle.sh
```
### Multi-agent simulation with Unity and AGX Dynamics
This simulation requires a windows computer running Unity with the AGX Dynamics plugin (request trial [here](https://www.algoryx.se/agx-unity/)), and a Unbuntu computer having followed the [general setup](#general-setup) above. Two computers are connected using a LAN cable (read [ROS-Unity integration](https://github.com/Unity-Technologies/Unity-Robotics-Hub/blob/main/tutorials/ros_unity_integration/README.md) for more setup details).
The unity package containing the scenes with our tethered drone models is [here](https://drive.google.com/file/d/1VJBm-ERsw9e6_UiGV-W3uzLhE_lfuD_O/view?usp=sharing). Before importing the package to Unity, you should have imported the AGX Dynamic package and [ROS-TCP-Connector](https://github.com/Unity-Technologies/ROS-TCP-Connector).
For the Unbuntu machine, you will additionally need ROS packages [tcc](https://github.com/caomuqing/tcc), [mav_control_rw](https://github.com/caomuqing/mav_control_rw) and [ROS-TCP-Endpoint](https://github.com/Unity-Technologies/ROS-TCP-Endpoint) in the same workspace as NEPTUNE. The IP addresses on the ROS side and Unity side have to be configured according to your machines' IPs.
To launch:
```
cd ~/catkin_ws_neptune && bash src/neptune/neptune_multi_unity.sh
```
### Cleanly shut down simulation:
```
rosnode kill -a
tmux kill-server
killall xterm
```
## Known Issues
We are looking into a bug that will cause the planning node to crash occasionally.
## Credits:
This package uses some existing functions and unilities from [MADER](https://github.com/mit-acl/mader), such as trajectory messages, cgal unilities and parameter class.
This package uses some C++ classes from the [DecompROS](https://github.com/sikang/DecompROS) repo (included in the `thirdparty` folder).
---------