wayne-xixi / d-orca

Distributed optimal reciprocal collision avoidance package

Distributed Optimal Reciprocal Collision Avoidance

Owing to the growth in the field of swarm robotics, simulation of multiple agents sharing a common workspace have gained increasing attention. This package provides one such platform with the support to spawn multiple agents(quadrotors) in a simulated environment(Gazebo). It also incorporates into it optimal reciprocal collision avoidance algorithm to help agents navigate the environment without colliding with each other. This package distinguishes itself from other similar packages by decentralizing the multi-agent simulation framework thus making the system scalable and increasing the point of failures. The package makes use of ROS message passing protocol for communication between agents and thus removes the need to manage all the agents centrally.

Before using the package, create a catkin workspace using the following commands

mkdir -p ~/dorca_ws
cd ~/dorca_ws
mkdir -p src
catkin_make

and run the following commands to clone the d-orca package with its submodules

cd ~/dorca_ws/src
git clone --recursive https://github.com/harish1696/d-orca

Documentation

This video illustrates the use cases of the package. Visit this page for more info on installing and using the package.

Issues

Create issues when you identify bugs.

The package is maintained by

• Harish Sampathkumar
• Senthil Hariharan Arul
• Adarsh Jagan Sathyamoorthy