https://github.com/ctu-mrs/pacnav

This repository contains the TMUX scripts to run the Gazebo simulations and real-world experiments for the paper entitled "PACNav: A Communication and External Localization Free Collective Swarm of UAVs"
https://github.com/ctu-mrs/pacnav

collective navigation swarm uav

Last synced: 19 days ago
JSON representation

This repository contains the TMUX scripts to run the Gazebo simulations and real-world experiments for the paper entitled "PACNav: A Communication and External Localization Free Collective Swarm of UAVs"

• Host: GitHub
• URL: https://github.com/ctu-mrs/pacnav
• Owner: ctu-mrs
• License: bsd-3-clause
• Created: 2022-05-19T08:50:41.000Z (over 2 years ago)
• Default Branch: master
• Last Pushed: 2024-04-24T11:41:03.000Z (7 months ago)
• Last Synced: 2024-04-24T15:55:08.395Z (7 months ago)
• Topics: collective, navigation, swarm, uav
• Language: C++
• Homepage:
• Size: 9.6 MB
• Stars: 6
• Watchers: 10
• Forks: 1
• Open Issues: 2
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

        
# PACNav

This repository contains the scripts and code to run the Gazebo simulations and real-world experiments for the paper titled "PACNav: A Collective Navigation Approach for UAV Swarms Deprived of Communication and External Localization".

### Step 1) Installation and building containers.

- Install `docker` and `singularity` using the install scripts provided in `pacnav/install` directory. You may skip this if you already have these dependencies installed.

- Build the singularity image by running `./singularity/recipe/build.sh`.

### Step 2) Running the container and building the ROS packages.

- After a successful build, run the singularity container using `./singularity/run_singularity.sh` script.

- The script will mount the `singularity/user_ros_workspace` directory into the singularity container.

- Build the required ROS packages by running `catkin build -c` inside `singularity/user_ros_workspace`.

### Step 3) Running the mutli-UAV simulation.

- After a successful `catkin build`, run the multi-UAV simulation using ```./singularity/user_ros_workspace/src/mrs_swarm_core/simulation/simulate_swarm.sh -f config/sim_config.yaml```

- The parameters for setting up the multi-UAV simulation are in the `singularity/user_ros_workspace/src/mrs_swarm_core/simulation/config/sim_config.yaml` file. You can play around with them as you please.

### Citation

Please use the citation below if you find our work useful :blush:.

```bibtex

@acticle{Ahmad2022Bioinspired,

  title = {{PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization}},

  author = {{Ahmad}, Afzal and {Bonilla Licea}, Daniel and {Silano}, Giuseppe and {Baca}, Tomas and {Saska}, Martin},

  doi = {10.1088/1748-3190/ac98e6},

  group = {journals},

  journal = {Bioinspiration & Biomimetics},

  year = {2022},

  organization = {IOP Science},

  month = oct,

  preprint = {http://mrs.felk.cvut.cz/data/papers/Bioinspired_Afzal.pdf},

  code = {https://github.com/ctu-mrs/pacnav},

  link = {https://iopscience.iop.org/article/10.1088/1748-3190/ac98e6}

}

```

YouTube video

--------------

In this section a video showcasing the validity and the effectviness of the approach is reported. Further videos can be found in the related publication. 

[![PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization](https://github.com/ctu-mrs/pacnav/wiki/img/img_bio_22.png)](https://youtu.be/Cpuqx7Imrz4 "PACNav: A collective navigation approach for UAV swarms deprived of communication and external localization")