ruslanagishev / adaptive_swarm

Multiple robots layered path planning algorithm implemented as a ROS node to control a swarm of nano quadrotors, Crazyflies 2.X, with real-time obstacle avoidance.

Adaptive Swarm

Package description

This project is a layered path planner algorithm to solve multiple agents navigation problem in a cluttered environment. Please, refer to the Master Thesis for more details.

The general path planning problem is divided into approximate global trajectory construction, which is further smoothed by a local path planning method. The proposed approach provides a solution based on a leader-followers architecture with a prescribed formation geometry that adapts dynamically to the environment and avoids collisions.

The path generated by the global planner based on rapidly-exploring random tree (RRT) algorithm is corrected with the artificial potential fields (APF) method that ensures robots trajectories to be collision-free, reshaping the geometry of the formation when required by environmental conditions. Take a look at motion_planning repository for more examples.

Getting started

Execute the following command in order to see how the planner algorithm works in simulation:

python scripts/layered_planner/layered_planner_sim.py 

Real flight

Here I would like to describe how to use the package for autonomous path planning of a group of nano-quadrotors Crazyflies.

Dependencies

• ROS
• crazyflie_ros
• vicon_bridge

Install ROS (the package is tested with kinetic version and Ubuntu 16.04), setup a workspace and build the packages:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone --recursive https://github.com/whoenig/crazyflie_ros
git clone https://github.com/ethz-asl/vicon_bridge
git clone https://github.com/RuslanAgishev/adaptive_swarm.git
cd ~/catkin_ws
catkin_make
source devel/setup.bash

The path planning algrithm is built with a known map assumption. You can define obstacles location of your environment in layered_planner.py.

• Launch external position estimator (Vicon motion capture system), and connect to drones:

roslaunch adaptive_swarm connect123.launch

Setup python path to swarmlib:

export PYTHONPATH=/path/to/catkin_ws/src/adaptive_swarm/scripts:$PYTHONPATH

• Command the drones to fly in a formation through a map of obstacles:

rosrun adaptive_swarm layered_planner.py 

Citation

Feel free to cite the papers, if you find the package useful for your research.

@article{tsykunov2019swarmtouch,
  title={Swarmtouch: Guiding a swarm of micro-quadrotors with impedance control using a wearable tactile interface},
  author={Tsykunov, Evgeny and Agishev, Ruslan and Ibrahimov, Roman and Labazanova, Luiza and Tleugazy, Akerke and Tsetserukou, Dzmitry},
  journal={IEEE transactions on haptics},
  volume={12},
  number={3},
  pages={363--374},
  year={2019},
  publisher={IEEE}
}
@inproceedings{agishev:hal-02128383,
  TITLE = {{Tactile Interaction of Human with Swarm of Nano-Quadrotors augmented with Adaptive Obstacle Avoidance}},
  AUTHOR = {Agishev, Ruslan and Tsykunov, Evgeny and Labazanova, Luiza and Tleugazy, Akerke and Tsetserukou, Dzmitry},
  URL = {https://hal.science/hal-02128383},
  BOOKTITLE = {{1st International Workshop on Human-Drone Interaction}},
  ADDRESS = {Glasgow, United Kingdom},
  ORGANIZATION = {{Ecole Nationale de l'Aviation Civile [ENAC]}},
  YEAR = {2019},
  MONTH = May,
  KEYWORDS = {Human ; robot interaction ; tactile display ; wearable computers ; robot formation motion planning ; impedance control ; potential fields},
  PDF = {https://hal.science/hal-02128383/file/HDI_2019_paper_14.pdf},
  HAL_ID = {hal-02128383},
  HAL_VERSION = {v1},
}

License

Project is distributed under MIT License

adaptive_swarm's Issues

Issue while running layered_planner.py

Hello
I have been searching in pip for swarmlib package as included in requirements.txt but I cannot find one. I tried pip3 to search the package and it was successfully installed but it does not contain Drone function. I get this error while running it.

Traceback (most recent call last):
File "layered_planner.py", line 14, in
from swarmlib import Drone, Obstacle
ImportError: cannot import name 'Drone' from 'swarmlib' (/usr/local/lib/python3.7/dist-packages/swarmlib/init.py)

I have looked into swarmlib functions and all I could find was
Firefly Algorithm
Cuckoo Search
Particle Swarm Optimization
Ant Colony Optimization

There was no Drone or Obstacle in it as shown by your code

from swarmlib import Drone, Obstacle

Kindly a reply back would be helpful.
Thanks