thuhangkhuat / amswarmx

AMSwarmX

Repository associated with the paper "AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space" accepted to IEEE ICRA 2024.

Installation

• Clone the repository
• Run the following commands

sudo apt-get install ros-<distro>-octomap
sudo apt-get install ros-<distro>-octomap-server
sudo apt-get install ros-<distro>-octomap-ros
sudo apt-get install ros-<distro>-dynamic-edt-3d
sudo apt install libeigen3-dev

• CATKIN_IGNORE and build the thirdparty package and source:

catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
source devel_isolated/setup.bash

• Build the amswarmx package

catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
source devel_isolated/setup.bash

• Supported distro melodic and noetic.

Run

Modify configuration file simulation.launch and config_am_swarm.yaml as you like. Then run:

roslaunch amswarmx simulation.launch

Example demos

• Bookstore
  
• Office
  
• Random room
  
• Star room
  

Acknowledgement

This package builds upon and uses the below listed packages. Some of the modified codes can be found in the thirdparty folder. For the rest of the packages, installation instructions are provided.

• AMSwarm
• jps3d
• DecompROS
• octomap
• Eigen3
• catkin_simple
• graph_rviz_plugin

Contact: [email protected]

For license, see LICENSE file.