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RoboPlan5G

This is the public repository for the RoboPlan5G system, a joint robot/5G-radio planner and optimization system.

This repository contains the files necessary to run the simulation example from the ETFA 2023 paper RoboPlan5G: Coordinating Cloud-Controlled Mobile Robots with 5G Network Configuration, as well as other PDDL-style plans.

Requirements

Currently, the following software is required to be installed:

  • webots R2023b (required for controller support)
  • MATLAB (only tested with 2021a, older versions may work)
  • Optional: A LPG-td installation, for example planutils for testing your own plans

Usage

webots Webots/warehouse-demo/worlds/warehouse-demo.wbt

Picture1

Running your own plans

For this, LPG-td (or any other temporal planner) is needed---see above. Make sure to save your output to PDDL/domains/network-aware/tempo-numeric/solutions and change the appropriate file name in the controller code.

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