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fa52eba · Oct 28, 2023

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amswarm

AMSwarm Repository Code

Installation

This work is implemented in C++17 and tested on ROS Melodic and Noetic.

  • Install ROS

  • Install eigen_quad_prog and run sudo ln -s /usr/include/eigen3/Eigen /usr/include/Eigen.

  • Clone and build the package as follows:

cd your_ws/src
git clone https://github.com/vivek-uka/AMSwarm
cd .. 
catkin_make  
source devel/setup.bash  

Demos

Approach Params File Command
Ours (Quadratic) config_am_swarm.yaml set axis_wise to false rosrun amswarm swarm_am_nav
Ours (Axiswise) config_am_swarm.yaml set axis_wise to true rosrun amswarm swarm_am_nav
SCP (Continuous) config_scp_swarm.yaml set on-demand to false rosrun amswarm swarm_scp_nav
SCP (Ondemand) config_scp_swarm.yaml set on-demand to true rosrun amswarm swarm_scp_nav
ACADO config_acado_swarm.yaml rosrun amswarm swarm_acado_nav_"num_drone" num_drone = {2, 4, 6, 8}

After running any of the approach, it should display success or faliure. To visulaize the simulated data run python animate_sim_data.py in the data folder for approches except for ACADO. For ACADO, run python animate_acado.py. Run any approach with the current configuration and visualize using the corresponding python file.

Changing Configuration

Change various parameters in some_file_name.yaml files of folder params. You can find description of each paramter in the some_name_help.txt.

Example Scenario

Ours in action:
example

To-do

  • Numerical issue when start-goal line makes pi/2 angle

Contact

vivek.adajania@mail.utoronto.ca