LanxinL / rl-collision-avoidance

Implementation of the paper "Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning"

rl-collision-avoidance

This is a Pytorch implementation of the paper Towards Optimally Decentralized Multi-Robot Collision Avoidance via Deep Reinforcement Learning

Requirement

• python2.7
• ROS Kinetic
• mpi4py
• Stage
• PyTorch

How to train

Please use the stage_ros-add_pose_and_crash package instead of the default package provided by ROS.

mkdir -p catkin_ws/src
cp stage_ros-add_pose_and_crash catkin_ws/src
cd catkin_ws
catkin_make
source devel/setup.bash

To train Stage1, modify the hyper-parameters in ppo_stage1.py as you like, and running the following command:

rosrun stage_ros_add_pose_and_crash stageros -g worlds/stage1.world
mpiexec -np 24 python ppo_stage1.py

To train Stage2, modify the hyper-parameters in ppo_stage2.py as you like, and running the following command:

rosrun stage_ros_add_pose_and_crash stageros -g worlds/stage2.world
mpiexec -np 44 python ppo_stage2.py

How to test

rosrun stage_ros_add_pose_and_crash stageros worlds/circle.world
mpiexec -np 50 python circle_test.py

Notice

I am not the author of the paper and not in their group either. You may contact Jia Pan ([e-mail]) for the paper related issues. If you find it useful and use it in your project, please consider citing:

@misc{Tianyu2018,
	author = {Tianyu Liu},
	title = {Robot Collision Avoidance via Deep Reinforcement Learning},
	year = {2018},
	publisher = {GitHub},
	journal = {GitHub repository},
	howpublished = {\url{https://github.com/Acmece/rl-collision-avoidance.git}},
	commit = {7bc682403cb9a327377481be1f110debc16babbd}
}