NH-TTC: A generalized framework for anticipatory collision avoidance
This repository hosts the companion code to the RSS 2020 paper "NH-TTC: A generalized framework for anticipatory collision avoidance". Within this repository is both the code for the collision avoidnace, as well as a live, graphical frontend.
Please see the corresponding webpage for videos of results: http://motion.cs.umn.edu/r/NH-TTC/
Contents
Building
Linux
Install all required components. On a fresh Ubuntu install:
apt install git cmake g++ xorg-dev libgtk-3-dev
Clone the repository and all submodules:
git clone https://github.com/davisbo/NHTTC.git
cd NHTTC
git submodule init
git submodule update
Build the repository
mkdir build
cd build
cmake ..
make
Run the demo
cd src/nhttc_opengl
./run_nhttc
Windows
The windows build is set up for using CMake (https://cmake.org/) and Visual Studio (https://visualstudio.microsoft.com/) Once these are installed, clone the repository and all submodules:
git clone https://github.com/davisbo/NHTTC.git
cd NHTTC
git submodule init
git submodule update
Configure and generate the project file with CMake, and then open the project file in Visual Studio. The code can now be compiled and run as normal.
OSX
Ensure you have git, cmake, and the xcode dev tools installed.
Clone the repository and all submodules:
git clone https://github.com/davisbo/NHTTC.git
cd NHTTC
git submodule init
git submodule update
Build the repository
mkdir build
cd build
cmake ..
make
Run the demo
cd src/nhttc_opengl
./run_nhttc
Live Demo Usage
- Click and drag to move the camera. Scroll the mouse to zoom in or out.
- 'Space': Pauses or Resumes execution.
- 'C': Clears all agents from the simulation.
- 'L': Brings up a file dialog to load a scene file. The 'scenes' folder contains a variety of scenes used in the corresponding paper.
- 'S': Brings up a file dialog to save the current agent positions and goal positions to a scene file. Note that this clears the current scene.
- 'R': Swaps the initial position of an agent and its goal, giving a quick way to reverse a simulation.
- 'A': Enters adding mode
- First, use the scroll wheel or arrow keys to select an agent type. In order they are: velocity, acceleration, differential drive, smooth differential drive, simple car, smooth car, and then non-reactive versions of each (i.e. agents that don't account for any other agents in planning). Click to lock in that agent type.
- Next, for any agent with orientation, move the mouse to orient the agent. Click once the desired orientation is reached.
- Finally, move the mouse to the desired goal location. Click to lock this in.
- Note that entering adding mode automatically pauses the simulation.