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pa-nav

The code for multi-agent motion planning project.

https://github.com/cong-harvard/pa-nav

Science Score: 26.0%

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    Low similarity (12.0%) to scientific vocabulary
Last synced: 10 months ago · JSON representation

Repository

The code for multi-agent motion planning project.

Basic Info
  • Host: GitHub
  • Owner: CoNG-harvard
  • License: bsd-2-clause
  • Language: Jupyter Notebook
  • Default Branch: main
  • Homepage:
  • Size: 1.07 GB
Statistics
  • Stars: 0
  • Watchers: 0
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created over 3 years ago · Last pushed almost 2 years ago
Metadata Files
Readme License Citation

README.md

Introduction

The code for the project Multi-agent Motion Planning on the Hybrid Graph.

The core functionalities are encapsulated in the panav Python package.

Required libraries

  • Python 3.8/3.9/3.10
  • Jupyter lab
  • matplotlib
  • faiss: a library to efficiently compute nearest neighbors(developed by Meta Research), necessary for RRT algorithms. Install the CPU version by conda install -c pytorch faiss-cpu. Install the GPU version by conda install -c pytorch faiss-gpu.
  • polytope: a Python package that allows flexible construction of convex and non-convex polytopes, called polytope, which is part of the TuLip control toolbox. Install by pip install polytope.
  • cvxopt: a convex optimization library. Install by conda install -c conda-forge cvxopt. Required by pypoman.
  • pypoman: this library implements common operations overconvex polyhedrasuch aspolytope projection,double description(conversion between halfspace and vertex representations), computing theChebyshev center, etc. Install by pip install pypoman.
  • shapely: a powerful library for geometry shape manipulations. Useful in visualization. Install by conda install -c conda-forge shapely
  • cvxpy: a convenient Python interface to write and solve convex and mix-interger programming problems. pip install cvxpy.
  • Gurobi: a semi-commericalized optimization solver. Install its python interface + gurobi license. No need to install the entire Gurobi software.
    • Install Gurobi Python interface, necessary for using Gurobi as the backend solver in cvxpy: https://www.gurobi.com/documentation/10.0/quickstartwindows/csanacondaandgrbconda.html.
    • Create a Gurobi account, request for an academic license, run grbt get key to install the license on your computer. https://www.gurobi.com/login/
  • Networkx: used to construct the high-level MAMP search tree, as well as determining the order in a partial ordering. Install by pip install networkx

Structure of the repo

  • Virtual navigation environment construction and visualization.
  • Global multi-agent motion planning.
  • Local path tracking & distributed multi-agent collision avoidance.
  • Experiments written on Python notebooks.

Owner

  • Name: CoNG at Harvard
  • Login: CoNG-harvard
  • Kind: organization

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