https://github.com/utiasdsl/amswarm

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.
https://github.com/utiasdsl/amswarm

multiagent-planning quadrotor-swarm swarm-robotics

Last synced: about 1 year ago
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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.

• Host: GitHub
• URL: https://github.com/utiasdsl/amswarm
• Owner: utiasDSL
• License: mit
• Created: 2022-09-09T18:43:48.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2023-10-28T17:07:08.000Z (over 2 years ago)
• Last Synced: 2023-10-29T17:33:23.663Z (over 2 years ago)
• Topics: multiagent-planning, quadrotor-swarm, swarm-robotics
• Language: C
• Homepage: https://youtu.be/eIBcOKq5_Jk
• Size: 7.54 MB
• Stars: 15
• Watchers: 3
• Forks: 5
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

          
# AMSwarm Repository 

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.

Video: [https://youtu.be/eIBcOKq5_Jk](https://youtu.be/eIBcOKq5_Jk)

### What's included

* Codes: 

    * Proposed Distributed Alternating Minimizatiom (AM) based approach

    * Distributed Sequential Convex Programming (SCP) with Continuous Collision Avoidance [1] and On-demand Collision Avoidance [2].

    * Distributed Trajectory Optimization with Optimal Control Solver ACADO [3] (incorporating discrete-time Barrier Function constraints)

* Supplementart Material:

    * Detailed experimental setup

### Simulation Environment Example

![sim_env](amswarm/data/sim_env.png)  

_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._

### References

[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.    

[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.  

[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.