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Research involving dynamic agents with line of sight communication.
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The problem of ensuring the safety of multi-agent motion when agents cannot contact each other is essential for path planning in the real world. It is difficult to control the agents experiencing instantaneous stops to avoid collisions. To address this problem, we develop a new algorithm Dynamic DEC-LOS-RRT based on the existing approach DEC-LOS- RRT. A new radial velocity set is defined around the corners of each obstacle to make robots stop smoothly. This is implemented by constraining the configuration space of each robot and adding constraints to the local planning algorithm. Simulation and hardware show our algorithm guarantees the effectiveness of path planning and safety for decentralized planning for multi-agent systems.
This section should list any major frameworks/libraries used to bootstrap your project. Leave any add-ons/plugins for the acknowledgements section. Here are a few examples.
All source code is located in the src folder. Run it as you would a normal python notebook.
-
numpy
pip install numpy
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scipy
pip install scipy
This project implements RRT, DEC-LOS-RRT and Dynamic DEC-LOS-RRT all with kd trees. If you would like to use the algorithms implemented please cite us.
Contributions are what make the open source community such an amazing place to learn, inspire, and create. Any contributions you make are greatly appreciated.
If you have a suggestion that would make this better, please fork the repo and create a pull request. You can also simply open an issue with the tag "enhancement". Don't forget to give the project a star! Thanks again!
- Fork the Project
- Create your Feature Branch (
git checkout -b feature/AmazingFeature
) - Commit your Changes (
git commit -m 'Add some AmazingFeature'
) - Push to the Branch (
git push origin feature/AmazingFeature
) - Open a Pull Request
Distributed under the MIT License. See LICENSE.txt
for more information.
Project Link: https://github.com/SaahilParikh/DYNAMIC-DEC-LOS-RRT