# lsc_dr_planner This package presents a decentralized deadlock-free multi-agent trajectory planning algorithm in obstacle-dense environments. The details about this algorithm can be found at the following links. - **Authors:** Jungwon Park, Inkyu Jang, and H. Jin Kim from [LARR](http://larr.snu.ac.kr/), Seoul National University - **Paper:** [Extended version](https://arxiv.org/abs/2209.09447) (NOTE: this version includes the detailed proof that omitted in the ICRA version) - **Video:** [Youtube](https://youtu.be/PqfdbVfSujA)  ## 1. Install This work is implemented based on C++17. Tested in the ROS Melodic, Ubuntu 18.04 (1) Install ROS Melodic for Ubuntu 18.04 or ROS Noetic for Ubuntu 20.04 (See http://wiki.ros.org/ROS/Installation, desktop-full version is recommended) (2) Install CPLEX (https://www.ibm.com/products/ilog-cplex-optimization-studio) (3) Set ROS distro - ROS Melodic \`\`\` export ROS_DISTRO=melodic \`\`\` - ROS Noetic \`\`\` export ROS_DISTRO=noetic \`\`\` (4) Install dependancies and clone packages \`\`\` sudo apt-get install ros-$ROS_DISTRO-octomap sudo apt-get install ros-$ROS_DISTRO-octomap-* sudo apt-get install ros-$ROS_DISTRO-dynamic-edt-3d cd ~/catkin_ws/src git clone https://github.com/qwerty35/lsc_dr_planner.git \`\`\` (5) Before building packages, check CMAKELIST that CPLEX_PREFIX_DIR is indicating the intallation location. For instance, if CPLEX is installed in \`\`\`/opt/ibm/ILOG/CPLEX_Studio201\`\`\`, then CPLEX_PREFIX_DIR should be: \`\`\` set(CPLEX_PREFIX_DIR /opt/ibm/ILOG/CPLEX_Studio201) \`\`\` (6) Build packages \`\`\` cd ~/catkin_ws catkin_make source ~/catkin_ws/devel/setup.bash \`\`\` ## 2. Demo - Run single mission \`\`\` source ~/catkin_ws/devel/setup.bash roslaunch lsc_dr_planner simulation.launch \`\`\` - Run simulation in the random forest sequentially \`\`\` source ~/catkin_ws/devel/setup.bash roslaunch lsc_dr_planner test_all_forest.launch \`\`\` - Run simulation in the sparse maze sequentially \`\`\` source ~/catkin_ws/devel/setup.bash roslaunch lsc_dr_planner test_all_maze_sparse.launch \`\`\` - Run simulation in the dense maze sequentially \`\`\` source ~/catkin_ws/devel/setup.bash roslaunch lsc_dr_planner test_all_maze_dense.launch \`\`\` The simulation result will be saved at \`\`\`lsc_dr_planner/log\`\`\`. ## 3. Configuration You can configure the simulation setting at the launch, mission files. - \`\`\`launch/simulation.launch\`\`\`: Mission, octomap, parameters for algorithm - \`\`\`missions/*.json\`\`\`: Start, goal, dynamical limits of the agent, map size See the comments in the \`\`\`launch/simulation.launch\`\`\` and \`\`\`missions/readme.txt\`\`\` file for more details Note: If you want to generate the mission file automatically, then use the matlab script in \`\`\`matlab/mission_generator\`\`\` ## 4. Acknowledgment This work is implemented based on the following packages. (1) PIBT (https://github.com/Kei18/mapf-IR) (2) rapidjson (https://rapidjson.org/) (3) openGJK (https://www.mattiamontanari.com/opengjk/) (4) convhull_3d (https://github.com/leomccormack/convhull_3d)