lucascoelhof / voronoi_hsi

Multi robot coverage control in non-convex environments using ROS

Voronoi HSI (Human-Swarm Interaction)

Multi robot coverage control in non-convex environments using ROS.

This is a ROS implementation of a multi-robot coverage control strategy based in for the paper Voronoi Multi-Robot Coverage Control in Non-Convex Environments With Human Interaction in Virtual Reality to address coverage in non-convex environments and adapt to performance variations.

It also has an add-on software for Unity that allows humans to interact with the robotic swarm, influencing their coverage task: Voronoi Unity Teleoperation

Getting started

Dependencies:

• Stage
• matplotlib
• ar_track_alvar
• gctronic/epuck_driver

Download the code, place it on your catkin environment, compile it using catkin_make and run using:

roslaunch voronoi_hsi voronoi_8_with_app.launch

If you want to use real robots (epucks) instead of simulating it on Stage, you will need the driver gctronic/epuck_driver. Run it using:

roslaunch voronoi_hsi voronoi_8_with_app.launch real_robot:=true

Human-Swarm Interaction Integration

This application can run standalone, but it can also run integrated with a VR application, which allows users to interact with the robotic swarm in the coverage task.

Please follow instructions at Voronoi Unity Teleoperation to setup and run the VR application.

License

This project is distibuted under the BSD 3-Clause License.

Acknowlegement

If you found this code useful for your scientific research, please remind to cite the paper that originated this code implementation:

@inproceedings{inproceedings,
author = {Figueiredo, Lucas and Lelis de Carvalho, Italo and Pimenta, Luciano},
year = {2018},
month = {01},
pages = {},
title = {VORONOI MULTI-ROBOT COVERAGE CONTROL IN NON-CONVEX ENVIRONMENTS WITH HUMAN INTERACTION IN VIRTUAL REALITY},
doi = {10.20906/CPS/CBA2018-0563}
}