Kei18 / toio-pibt

Implementation of PIBT with toio robots

toio-tswap

PIBT implementation with the toio robots.

• It is written in Node.js with yarn build
• They are tested on MacOS 10.15.

Demo

Install

git clone https://github.com/Kei18/toio-pibt.git
cd toio-pibt
yarn install
yarn build

Usage

• Step1: Create your test field. An example is available on ./sample/7x5.yaml.
  • To convert maps of https://movingai.com/benchmarks/ to YAML one, ./notebooks/graph_gen.ipynb might be useful
  • To obtain coordinates of the playmat, yarn loc might help you, which obtains coordinates using one toio robot.
• Step2: Switch on your toio robots and Bluetooth of your PC
• Step3: Execute!

yarn pibt {the number of robots}

Experimental Setting

Licence

This software is released under the MIT License, see LICENCE.txt.

Notes

• This repository is forked from toio.js. To make the repo private temporarily, I duplicated the original repo.

Author

Keisuke Okumura is a Ph.D. student at the Tokyo Institute of Technology, interested in controlling multiple moving agents.