JackFodtik / OnDemCPP

OnDemCPP (Online On-Demand Multi-Robot Coverage Path Planning)

Implementation of Online On-Demand Multi-Robot Coverage Path Planning [ICRA 2024] in ROS Noetic Ninjemys using C++.

Paper's URL: CoRR
Video's URL: YouTube

Instructions:

1. Download the source code package:
   cd ~/catkin_ws/src/
git clone https://github.com/iitkcpslab/OnDemCPP.git
2. Understand the directory structure:
   

   1. include: Contains the header files.
      By default, the package is configured for the motions of a Quadcopter in a 2D workspace. However, this can be reconfigured for the motions of a Turtlebot in config.h file by uncommenting #define TURTLEBOT.

   2. input: ws_obs_robs.txt represents the 2D workspace grid with obstacles and initial locations of the robots.

      Value	Meaning
      0.0	Obstacle-occupied cell
      0.5	Obstacle-free cell
      i (≥ 1)	Initial location of Robot-i

      E.g., the given file represents a 10 x 10 grid with 3 robots - Robot-1, Robot-2, and Robot-3, having initial locations (1,0), (2, 1), and (3,2), respectively.

   3. msg: Contains message files.

   4. output: Contains the obtained results when run with the input.

      • j_capl.txt file stores the collision-free path lengths of the participants in the j-th horizon. The format of each row is as follows -

      Robot ID	Path Length	Start-Time Offset	Collision-Free Path Length

      • cap_j.csv file stores the collision-free paths of all the robots in the j-th horizon.
      • fp_stat.txt file stores the performance of algorithm, which computes feasible paths. The format of each row is as follows -

      Horizon ID	Iteration ID of the inner WHILE loop	Active robot count	Killed robot count	Revived robot count	Visited goal count

      • path_len.txt file stores the total collision-free path lengths of all the robots.
      • post_comp.txt file stores the times spent on sending the paths to all the active participants in a particular horizon.
      • pre_comp.txt file stores the times spent on updating the global view in a particular horizon.
      • r_i.txt file stores the time spent on updating the global view with Robot-i's localview.
      • result.txt file stores the overall computation time, horizon length, and mission time.
      • resultPerHorizon.txt file stores horizon-wise computation times and horizon lengths.

   5. src: Contains the source files corresponding to the header files.

      • Robot side: robot.cpp emulates a robot.
      • Coverage Planner side: The rest of the source files.

   6. srv: Contains the service files.

3. Build the package:
   cd ~/catkin_ws && catkin_make clean && catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
4. Run the package in a Terminal:
   • Tab 1: rosclean purge -y && pkill roscore ; roscore
   • Tab 2: rm ~/catkin_ws/src/OnDemCPP/output/*
rosrun ondemcpp_pkg onDemCPPExe _ws_x:=<Workspace size along the +x axis> _ws_y:=<Workspace size along the +y axis> _rc:=<Robot count>
   • Tab 3: cp ~/<Workspace directory>/ws_obs_robs.txt ~/catkin_ws/src/OnDemCPP/input/
rosrun ondemcpp_pkg robotExe __name:=robot_<Robot ID> _rid:=<Robot ID> # Run for each Robot-i