wtq20230227 / time_optimizer

[IEEE ICRA'24] Optimal Trajectory Time Allocation Library for Autonomous Robots (C++/ROS)

Optimal Trajectory Time Allocation Library

This package implements the Robust Optimal Time Allocation (ROTA) framework which is designed to optimize the time progress of the trajectories temporally and served as a post-processing tool to enhance trajectory time efficiency and safety under uncertainties.

Author: Zhefan Xu, Computational Engineering & Robotics Lab (CERLAB) at Carnegie Mellon University (CMU).

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This repo can be used as a standalone package and also comes as a module of our autonomy framework.

I. Installation Guide

This repo has been tested on ROS Melodic with Ubuntu 18.04 and ROS Noetic with Ubuntu 20.04 and it depends on global_planner, trajectory_planner, and map_manager. Please use the following commands for installation:

cd ~/catkin_ws/src
git clone https://github.com/Zhefan-Xu/time_optimizer.git

cd ~/catkin_ws
catkin_make

II. Example DEMO

The video shows an example of using the ROTA framework to optimize the time allocation of a given trajectory:

simulation.mp4

The related paper can be found on:

Zhefan Xu and Kenji Shimada, “Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation”, IEEE International Conference on Robotics and Automation (ICRA), 2024. [paper] [video]

III. Citation and Reference

If you find this work useful, please cite the paper:

@article{xu2023quadcopter,
  title={Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation},
  author={Xu, Zhefan and Shimada, Kenji},
  journal={arXiv preprint arXiv:2309.08544},
  year={2023}
}