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.
- 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
thirdpartypackage and source:
catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
source devel_isolated/setup.bash
- Build the
amswarmxpackage
catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
source devel_isolated/setup.bash
- Supported distro melodic and noetic.
Modify configuration file simulation.launch and config_am_swarm.yaml as you like. Then run:
roslaunch amswarmx simulation.launch
- Bookstore
- Office
- Random room
- Star room
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.
For license, see LICENSE file.