yuqiang-yang / tie-supplementary-video

This repository consist of the Supplementary video and materials for TIE submission. Thanks for watching!

RAMPAGE: Towards Whole-body, Real-Time and Agile Motion Planning in Dynamic Cluttered Environments for Mobile Manipulators

We proposed a framework for mobile manipulators to plan and execute wholebody trajectories in cluttered dynamic environments. Environmental maps are constructed in real time with only on-robot sensors. Extensive benchmark comparisons and experiment demonstrate that the proposed framework can plan and execute collision-free wholebody trajectory at an average speed of 1.86m/s among unknown dynamic obstacles with a maximum speed of 2m/s in simulation. Pick-and-place experimental results further verify our method’s effectiveness and efficiency in the real world.

News

Jan 29, 2024 :The supplementary materials are added at Supplentary_Material_for_Rampage.pdf to demonstrate that our solver can achieve SOTA performance in terms of solution speed and quality. Python codes for benchmarks are also available in this repository.

Oct 10, 2023 : Supplementary videos for TIE submission are added.

Feb 19, 2024 : Paper is accepted to IEEE Transactions on Industrial Electronics.

Feb 23, 2024 : PDF of paper is released here for early access.

Mar 16, 2024 : This paper is available at IEEE Xplore

Supplementary video

Tie_Supplementary_Video_Yuqiang1006_small_small_small.mp4

Several experimental results for the revised manuscript to demonstrate the real-time updated ESDF in dynamic environments

Simulated dynamic environment

The mobile manipulator perceives the obstacle pointcloud using on-robot lidar with 360 degree FOV. The video shows that both static and dynamic obstacles are well modelled in ESDF.

esdf_sim-2023-12-22_16.08.42.mp4

Real-world static and dynamic environment

Dynamic.mp4

Static.mp4

Real-time perception and planning with only on-robot sensors in an unknown environment

In the pick-and-place experiment, the mobile manipulator perceives the obstacle using on-robot cameras and constructs the ESDF in real-time.

esdf_exp-2023-12-22_15.33.28.mp4

esdf_exp-2023-12-22_15.31.41.mp4

Contact us

For more details, please contact [email protected].

tie-supplementary-video's Issues

感知部分OGM和esdf的具体实现

您的工作RAMPAGE: Towards Whole-body, Real-Time and Agile Motion Planning in Dynamic Cluttered Environments for Mobile Manipulators 做的非常成功，我对您代码中感知部分OGM和esdf的具体实现部分很感兴趣，请问您是否可以给我分享这部分的代码。 另外我对这个测试环境也很感兴趣，想知道这部分的构建。
非常感谢！