Fast and Communication-Efficient Multi-UAV Exploration Via Voronoi Partition on Dynamic Topological Graph (IROS 2024 accepted)
GVP-MREP is a distributed and communication-efficient multi-UAV exploration system. For lightweight multi-UAV communication, a multi-robot dynamic topological graph (MR-DTG) is designed. Supported by MR-DTG, graph Voronoi partition (GVP) is adopted to allocate exploration tasks to each UAV. Each UAV operates GVP and optimizes trajectories to their targets distributedly.
Video Links: youtube or bilibili.
Paper: Fast and Communication-Efficient Multi-UAV Exploration Via Voronoi Partition on Dynamic Topological Graph, Qianli Dong, Haobo Xi, Shiyong Zhang, Qingchen Bi, Tianyi Li, Ziyu Wang and Xuebo Zhang, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, accepted.
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This work is developed in Ubuntu 20.04, ROS noetic.
Prerequisites:
git clone https://github.com/google/glog.git
cd glog
cmake -S . -B build -G "Unix Makefiles"
cmake --build build
cmake --build build --target test
cmake --build build --target install
# if cmake reports version error: git checkout v0.3.5
cd workspace/src
git clone https://github.com/ethz-asl/gflags_catkin.git
git clone https://github.com/ethz-asl/glog_catkin.git
git clone https://github.com/catkin/catkin_simple.git
sudo apt install libzmqpp-dev #libgflags-dev
Simulation environment: We adopt RotorS as the simulation platform. To adapt to the scenario of multi-UAV exploration, we have made some modifications. You can get the modified version with:
cd workspace/src
git clone https://github.com/NKU-UAVTeam/rotors-modified.git
Clone Code and Make:
cd workspace/src
git clone https://github.com/NKU-MobFly-Robotics/GVP-MREP.git
cd ..
catkin_make
Run Exploration:
source devel/setup.bash
roslaunch murder_swarm murder_swarm_maze3.launch #large maze
#or
roslaunch murder_swarm murder_swarm_maze4.launch #small maze
Mamba bless your UAV!
Exploration Space: maze3.resource, maze3_ground.resource | maze4.resource, maze4_ground.resource
# exploration bounding box
Exp/minX: -20.0
Exp/minY: -20.0
Exp/minZ: 0.0
Exp/maxX: 20.0
Exp/maxY: 20.0
Exp/maxZ: 3.0
# map size (larger than the exploration bounding box)
block_map/minX: -22.5
block_map/minY: -22.5
block_map/minZ: -0.1
block_map/maxX: 22.5
block_map/maxY: 22.5
block_map/maxZ: 3.5
In maze3.resource | maze4.resource.Set the number of swarm:
<arg name="drone_num" value="10" />We use MINCO for trajectory planning.