Multi-robot collaborative exploration and mapping through Voronoi partition and DRL in unknown environment

Last update: Nov 22, 2022

Overview

Voronoi Multi_Robot Collaborate Exploration

Introduction

In the unknown environment, the cooperative exploration of multiple robots is completed by Voronoi partition and deep reinforcement learning. The decision-making level assigns different target positions to each mobile robot through Voronoi partition and point selection formula to minimize repeated exploration; The path planning layer uses the method based on deep reinforcement learning to make each mobile robot reach the corresponding target position without collision.

Enviroment

parameter	description
system	Ubuntu18.04 ; ROS(Melodic); Phython 2.7
simulator	Gazebo
display	Rviz
simulation car	Turtlebot3(Waffle)
senor	LiDAR
laser range	0.1 - 3.5 m
angle range	-90 - 90
laser numer	24

Run

dependency package

sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-multirobot-map-merge

Add

pyyaml、rospkg、pytorch、torchvision、tensorflow 、tensorboard、mpi4py、joblib、gym、pathlib、wandb、Image、setproctitle、imageio

compile & run

> catkin_make 
> source devel/setup.bash
> roslaunch multi_turtlebot3_expore three_turtlebot3_gmapping.launch
> python ddpg_test.py

test

Move & mapping

Comparison of construction effects

Run in other environments

Avoid obstacle

Reference

hanlinniu/turtlebot3_ddpg_collision_avoidance：https://github.com/hanlinniu/turtlebot3_ddpg_collision_avoidance

Multi-robot collaborative exploration and mapping through Voronoi partition and DRL in unknown environment

Related tags

Overview

Voronoi Multi_Robot Collaborate Exploration

Introduction

Enviroment

Run

dependency package

compile & run

test

Move & mapping

Run in other environments

Reference

Owner

PeaceWord

Learn other languages using artificial intelligence with python.

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Multi-robot collaborative exploration and mapping through Voronoi partition and DRL in unknown environment

Related tags

Overview

Voronoi Multi_Robot Collaborate Exploration

Introduction

Enviroment

Run

dependency package

compile & run

test

Move & mapping

Run in other environments

Reference

Owner

PeaceWord

Learn other languages ​​using artificial intelligence with python.

Annealed Flow Transport Monte Carlo

Cossim - Sharpened Cosine Distance implementation in PyTorch

Anime Face Detector using mmdet and mmpose

CS50x-AI - Artificial Intelligence with Python from Harvard University

Official implementation of "CrossPoint: Self-Supervised Cross-Modal Contrastive Learning for 3D Point Cloud Understanding" (CVPR, 2022)

Contrastive Learning with Non-Semantic Negatives

IndoNLI: A Natural Language Inference Dataset for Indonesian

TLoL (Python Module) - League of Legends Deep Learning AI (Research and Development)

CaLiGraph Ontology as a Challenge for Semantic Reasoners ([email protected]'21)

PyTorch Implementation of Sparse DETR

Information Gain Filtration (IGF) is a method for filtering domain-specific data during language model finetuning. IGF shows significant improvements over baseline fine-tuning without data filtration.

A PyTorch-based library for semi-supervised learning

Bilinear attention networks for visual question answering

The official implementation of the CVPR2021 paper: Decoupled Dynamic Filter Networks

Implementation of CVPR'2022:Surface Reconstruction from Point Clouds by Learning Predictive Context Priors

Clustering is a popular approach to detect patterns in unlabeled data

Moon-patrol - A faithful recreation of the 1983 hit classic Moon Patrol for the Atari 2600 created using the Pygame library for Python

You Only Look Once for Panopitic Driving Perception

Official codebase for ICLR oral paper Unsupervised Vision-Language Grammar Induction with Shared Structure Modeling

Learn other languages using artificial intelligence with python.