multi-drone-motion-planning

https://github.com/mikezheng777/multi-drone-motion-planning

Science Score: 44.0%

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CITATION.cff file
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Low similarity (3.9%) to scientific vocabulary

Last synced: 6 months ago · JSON representation ·

Repository

Basic Info

Host: GitHub
Owner: MikeZheng777
License: mit
Language: Python
Default Branch: main
Size: 46.9 MB

Statistics

Stars: 0
Watchers: 1
Forks: 0
Open Issues: 0
Releases: 0

Created almost 2 years ago · Last pushed almost 2 years ago

Metadata Files

Readme License Citation

Multi-Drone Motion Planning using Bi-RRT* and Prioritized Planning

Installation

```sh git clone https://github.com/MikeZheng777/Multi-Drone-Motion-Planning.git cd gym-pybullet-drones/

conda create -n drones python=3.10 conda activate drones

pip3 install --upgrade pip pip3 install -e .

```

Run Planning

```sh python3 gympybulletdrones/run/planandcontrolsingle.py # multi drone planning python3 gympybulletdrones/run/planandcontrolmulti.py # multi drone planning without Prioritized Planning python3 gympybulletdrones/run/planandcontrolmultipp.py # multi drone planning with Prioritized Planning

```

sh python3 gym_pybullet_drones/run/plan_and_control_multi_pp.py --debug True --reload True # plot previous saved planned path (saved as .npy without reload flag) in simulation.

Video Demo

Single-drone planning

Path founded offline by Bi-RRTstar.

Multi-drone planning

Path founded offline by Bi-RRT star without Prioritized Planning, drone to drone collision happens. Path founded offline by Bi-RRT star with Prioritized Planning.

Owner

Login: MikeZheng777
Kind: user

Repositories: 1
Profile: https://github.com/MikeZheng777

Citation (CITATION.cff)

cff-version: 1.2.0
preferred-citation:
  type: article
  authors:
  - family-names: "Panerati"
    given-names: "Jacopo"
    orcid: "https://orcid.org/0000-0003-2994-5422"
  - family-names: "Zheng"
    given-names: "Hehui"
    orcid: "https://orcid.org/0000-0002-4977-0220"
  - family-names: "Zhou"
    given-names: "SiQi"
  - family-names: "Xu"
    given-names: "James"
  - family-names: "Prorok"
    given-names: "Amanda"
    orcid: "https://orcid.org/0000-0001-7313-5983"
  - family-names: "Schoellig"
    given-names: "Angela P."
    orcid: "https://orcid.org/0000-0003-4012-4668"
  doi: "10.0000/00000"
  journal: "2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)"
  month: 1
  start: 1 # First page number
  end: 8 # Last page number
  title: "Learning to Fly---a Gym Environment with PyBullet Physics for Reinforcement Learning of Multi-agent Quadcopter Control"
  issue: 1
  volume: 1
  year: 2021

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Dependencies

pyproject.toml pypi

gymnasium ^0.28
matplotlib ^3.7
numpy ^1.24
pybullet ^3.2.5
pytest ^7.3
python ^3.10
scipy ^1.10
stable-baselines3 ^2.0.0
transforms3d ^0.4.1

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