swarm-trajectories's Introduction

Swarm-Trajectories

This repository hosts the demo source code for the paper "Fast generation of collision-free trajectories for robot swarms using GPU acceleration", which is due to be published as open access in the IEEE Access Journal. An early-access version can be found: https://ieeexplore.ieee.org/document/8587164

A very high-level overview of the demos presented here can be found at: http://mikehamer.info/swarm-trajectories/ Further information to the approach will be released once the paper has been accepted.

Tested using:

Python 3
PyTorch version 0.4.1
CUDA version 9.2.148
cuDNN version 7.1.4

To run the demos, simply run (using python) the two CaseStudy programs.

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swarm-trajectories's Issues

Is there an video to show somthing?

Running demo error

Traceback (most recent call last):
  File "/home/wyd/.local/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 946, in _build_extension_module
    check=True)
  File "/usr/lib/python3.6/subprocess.py", line 438, in run
    output=stdout, stderr=stderr)
subprocess.CalledProcessError: Command '['ninja', '-v']' returned non-zero exit status 1.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "CaseStudy_Sort200Quads.py", line 11, in <module>
    from robot_collision import RobotCollision
  File "/home/wyd/swarm-trajectories/robot_collision.py", line 8, in <module>
    RobotCollisionCpp = torchcpp.load(name='RobotCollision', sources=[os.path.join(mypath, 'robot_collision.cpp'), os.path.join(mypath, 'robot_collision.cu')])
  File "/home/wyd/.local/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 645, in load
    is_python_module)
  File "/home/wyd/.local/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 814, in _jit_compile
    with_cuda=with_cuda)
  File "/home/wyd/.local/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 863, in _write_ninja_file_and_build
    _build_extension_module(name, build_directory, verbose)
  File "/home/wyd/.local/lib/python3.6/site-packages/torch/utils/cpp_extension.py", line 959, in _build_extension_module
    raise RuntimeError(message)
RuntimeError: Error building extension 'RobotCollision': [1/3] /usr/local/cuda-10.0/bin/nvcc -DTORCH_EXTENSION_NAME=RobotCollision -DTORCH_API_INCLUDE_EXTENSION_H -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/torch/csrc/api/include -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/TH -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/THC -isystem /usr/local/cuda-10.0/include -isystem /usr/include/python3.6m -D_GLIBCXX_USE_CXX11_ABI=0 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --compiler-options '-fPIC' -std=c++11 -c /home/wyd/swarm-trajectories/robot_collision.cu -o robot_collision.cuda.o
FAILED: robot_collision.cuda.o 
/usr/local/cuda-10.0/bin/nvcc -DTORCH_EXTENSION_NAME=RobotCollision -DTORCH_API_INCLUDE_EXTENSION_H -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/torch/csrc/api/include -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/TH -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/THC -isystem /usr/local/cuda-10.0/include -isystem /usr/include/python3.6m -D_GLIBCXX_USE_CXX11_ABI=0 -D__CUDA_NO_HALF_OPERATORS__ -D__CUDA_NO_HALF_CONVERSIONS__ -D__CUDA_NO_HALF2_OPERATORS__ --compiler-options '-fPIC' -std=c++11 -c /home/wyd/swarm-trajectories/robot_collision.cu -o robot_collision.cuda.o
/home/wyd/swarm-trajectories/robot_collision.cu(78): error: no suitable user-defined conversion from "at::Type" to "c10::IntList" exists

/home/wyd/swarm-trajectories/robot_collision.cu(78): error: no suitable constructor exists to convert from "int" to "at::TensorOptions"

/home/wyd/swarm-trajectories/robot_collision.cu(79): error: no suitable user-defined conversion from "at::Type" to "c10::IntList" exists

/home/wyd/swarm-trajectories/robot_collision.cu(79): error: no suitable constructor exists to convert from "int" to "at::TensorOptions"

4 errors detected in the compilation of "/tmp/tmpxft_00000eea_00000000-6_robot_collision.cpp1.ii".
[2/3] c++ -MMD -MF robot_collision.o.d -DTORCH_EXTENSION_NAME=RobotCollision -DTORCH_API_INCLUDE_EXTENSION_H -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/torch/csrc/api/include -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/TH -isystem /home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/THC -isystem /usr/local/cuda-10.0/include -isystem /usr/include/python3.6m -D_GLIBCXX_USE_CXX11_ABI=0 -fPIC -std=c++11 -c /home/wyd/swarm-trajectories/robot_collision.cpp -o robot_collision.o
In file included from /home/wyd/swarm-trajectories/robot_collision.cpp:1:0:
/home/wyd/.local/lib/python3.6/site-packages/torch/lib/include/torch/csrc/api/include/torch/torch.h:7:2: warning: #warning "Including torch/torch.h for C++ extensions is deprecated. Please include torch/extension.h" [-Wcpp]
 #warning \
  ^~~~~~~
ninja: build stopped: subcommand failed.

Any suggestions to solve it? Thanks!

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