https://github.com/zju-fast-lab/active-relative-localization
Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation
https://github.com/zju-fast-lab/active-relative-localization
Last synced: 11 months ago
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Open source dode for paper Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation
- Host: GitHub
- URL: https://github.com/zju-fast-lab/active-relative-localization
- Owner: ZJU-FAST-Lab
- License: gpl-3.0
- Created: 2024-03-17T13:13:38.000Z (over 2 years ago)
- Default Branch: main
- Last Pushed: 2024-11-18T14:57:26.000Z (over 1 year ago)
- Last Synced: 2024-11-18T16:14:55.339Z (over 1 year ago)
- Language: C++
- Size: 1.23 MB
- Stars: 3
- Watchers: 3
- Forks: 0
- Open Issues: 2
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Active-Relative-Localization
We propose an active localization correction system designed to balance the contradiction between environmental observation and mutual observation within the FoV-limited drone swarm, ensuring the swarm's flight safety.
**[IROS 2024]** Open source code for paper **Preserving Relative Localization of FoV-Limited Drone Swarm via Active Mutual Observation**. [arXiv Preprint](https://arxiv.org/abs/2407.01292)
Video Links: [Bilibili](https://www.bilibili.com/video/BV1fZ421b7j2/).
## Quick Start
We developed the code on Ubuntu 20.04 with ROS Noetic. Theoretically, it should also run on Ubuntu 18.04 and Ubuntu 16.04, but this has not been tested. Please install ROS(Robot Operating System) first following http://www.ros.org.
Run the following commands to setup:
```
git clone https://github.com/ZJU-FAST-Lab/Active-Relative-Localization.git
cd Active-Relative-Localization
catkin_make
```
We provide a launch file to run the simulation. You can run the simulation with the following command:
**line formation**
```
source devel/setup.bash && roslaunch ego_planner rviz.launch
source devel/setup.bash && roslaunch ego_planner line_formation.launch
```
**x formation**
```
source devel/setup.bash && roslaunch ego_planner rviz.launch
source devel/setup.bash && roslaunch ego_planner x_formation.launch
```
If you want to compare the difference between using and not using active mutual observation, you can change the parameter ```fsm/active_obs``` to true/false in ```src/plan_manage/launch/line_formation/advanced_param.xml```
or ```src/plan_manage/launch/x_formation/advanced_param_x.xml```
```
```
## Acknowledgments
The simulation and trajectory planning code are based on our previous work [Ego-Planner-v2](https://github.com/ZJU-FAST-Lab/EGO-Planner-v2), and we use [MINCO](https://github.com/ZJU-FAST-Lab/GCOPTER) as our trajectory representation.