gt-star-lab / k-cbs-expert

Expert of the K-CBS algorithm we're planning to use for our VMAS environment

K-CBS-Demos

Demonstrations of our Kinodynamic Conflict-Based Search (K-CBS) algorithm that are too involved to be included in OMPL. Please see the References for detailed explanations of the algorithm. The implementation has been built into The Open Motion Planning Library but the pull request has not yet been finalized. In the meantime, the library with the K-CBS implementation can be installed at this repository.

Set-Up

To run these demos, one must first install this OMPL repository. After that, one can build this project via the following commands.

cd K-CBS-Demos
mkdir build/
cd build/
cmake ..
make

This will build many executables that can be run individually. For example, to see how quickly K-CBS can solve an MRMP problem instance with 10 2nd order cars in an empty 32x32 workspace, one can enter the following command:

./demo_Empty32x32_10robots_dyn2ndOrderCars 

References

1. J. Kottinger, S. Almagor and M. Lahijanian, "Conflict-Based Search for Multi-Robot Motion Planning with Kinodynamic Constraints," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 13494-13499, doi: 10.1109/IROS47612.2022.9982018.
2. Theurkauf, Anne, Kottinger, Justin, and Lahijanian, Morteza. "Chance-Constrained Multi-Robot Motion Planning under Gaussian Uncertainties." arXiv preprint arXiv:2303.11476 (2023).