This repository containts an algorithm for collision avoidance between drones based on collision-free velocity assignment. The algorithm checks conflicts in a time windows in a centralized manner, assigning velocities that would avoid collsions in an optimal manner. The ROS package collision_free_vel contains the implementation of the algorithm, while the package experiments contains files to run simulations or actual experiments for testing and processing results.

• grvc-ual
• PX4 Firmware at tag v1.6.3 (if you want to run SITL simulations)

You can create a catkin workspace, clone the repository there and compile it:

    mkdir -p [workspace]/src
    cd [workspace]
    catkin_make
    git clone --recursive https://github.com/jescap/multiuav_collision_avoidance.git ./src
    catkin build

A sample simulation without SITL can be run with:

roslaunch experiments simulation_light.launch

A sample simulation with the PX4 autopilot SITL can be run with:

roslaunch experiments simulation.launch

Run a central controller executing the collision avoidance algorithm with:

roslaunch collision_free_vel controller.launch 

NOTE: Use configuration files in conf folder to specify number of drones, heights and goal points.

Additionally, you can run a visualization node to publish markers for RVIZ:

roslaunch collision_free_vel visualization.launch