Multi-robot collaborative exploration and mapping through Voronoi partition and DRL in unknown environment

Related tags

Deep Learningvoronoiddpgturtlebot3gmapping-slamros-melodic
Overview

Voronoi Multi_Robot Collaborate Exploration

Introduction

In the unknown environment, the cooperative exploration of multiple robots is completed by Voronoi partition and deep reinforcement learning. The decision-making level assigns different target positions to each mobile robot through Voronoi partition and point selection formula to minimize repeated exploration; The path planning layer uses the method based on deep reinforcement learning to make each mobile robot reach the corresponding target position without collision.

Enviroment

parameter description
system Ubuntu18.04 ; ROS(Melodic); Phython 2.7
simulator Gazebo
display Rviz
simulation car Turtlebot3(Waffle)
senor LiDAR
laser range 0.1 - 3.5 m
angle range -90 - 90
laser numer 24

Run

dependency package

sudo apt-get install ros-melodic-joy ros-melodic-teleop-twist-joy ros-melodic-teleop-twist-keyboard ros-melodic-laser-proc ros-melodic-rgbd-launch ros-melodic-depthimage-to-laserscan ros-melodic-rosserial-arduino ros-melodic-rosserial-python ros-melodic-rosserial-server ros-melodic-rosserial-client ros-melodic-rosserial-msgs ros-melodic-amcl ros-melodic-map-server ros-melodic-move-base ros-melodic-urdf ros-melodic-xacro ros-melodic-compressed-image-transport ros-melodic-rqt-image-view ros-melodic-gmapping ros-melodic-navigation ros-melodic-interactive-markers ros-melodic-multirobot-map-merge

Add

pyyaml、rospkg、pytorch、torchvision、tensorflow 、tensorboard、mpi4py、joblib、gym、pathlib、wandb、Image、setproctitle、imageio

compile & run

> catkin_make 
> source devel/setup.bash
> roslaunch multi_turtlebot3_expore three_turtlebot3_gmapping.launch
> python ddpg_test.py

test

Move & mapping

simulation_gmapping Comparison of construction effects origin&true

Run in other environments

test_env_2_1 Avoid obstacle test_env_2_3

Reference

Owner
PeaceWord
PeaceWord
GitHub Repository
Official implementation of the ICCV 2021 paper "Conditional DETR for Fast Training Convergence".

The DETR approach applies the transformer encoder and decoder architecture to object detection and achieves promising performance. In this paper, we handle the critical issue, slow training convergen

281 Dec 30, 2022
Computational modelling of ray propagation through optical elements using the principles of geometric optics (Ray Tracer)

Computational modelling of ray propagation through optical elements using the principles of geometric optics (Ray Tracer) Introduction By applying the

Son Gyo Jung 1 Jul 09, 2022
Code for the paper “The Peril of Popular Deep Learning Uncertainty Estimation Methods”

Uncertainty Estimation Methods Code for the paper “The Peril of Popular Deep Learning Uncertainty Estimation Methods” Reference If you use this code,

EPFL Machine Learning and Optimization Laboratory 4 Apr 05, 2022
[ICML 2020] DrRepair: Learning to Repair Programs from Error Messages

DrRepair: Learning to Repair Programs from Error Messages This repo provides the source code & data of our paper: Graph-based, Self-Supervised Program

Michihiro Yasunaga 155 Jan 08, 2023
ADGAN - The Implementation of paper Controllable Person Image Synthesis with Attribute-Decomposed GAN

ADGAN - The Implementation of paper Controllable Person Image Synthesis with Attribute-Decomposed GAN CVPR 2020 (Oral); Pose and Appearance Attributes Transfer;

Men Yifang 400 Dec 29, 2022
ImageBART: Bidirectional Context with Multinomial Diffusion for Autoregressive Image Synthesis

ImageBART NeurIPS 2021 Patrick Esser*, Robin Rombach*, Andreas Blattmann*, Björn Ommer * equal contribution arXiv | BibTeX | Poster Requirements A sui

CompVis Heidelberg 110 Jan 01, 2023
A large-scale benchmark for co-optimizing the design and control of soft robots, as seen in NeurIPS 2021.

Evolution Gym A large-scale benchmark for co-optimizing the design and control of soft robots. As seen in Evolution Gym: A Large-Scale Benchmark for E

121 Dec 14, 2022
Pytorch implementation of few-shot semantic image synthesis

Few-shot Semantic Image Synthesis Using StyleGAN Prior Our method can synthesize photorealistic images from dense or sparse semantic annotations using

40 Sep 26, 2022
MASS (Mueen's Algorithm for Similarity Search) - a python 2 and 3 compatible library used for searching time series sub-sequences under z-normalized Euclidean distance for similarity.

Introduction MASS allows you to search a time series for a subquery resulting in an array of distances. These array of distances enable you to identif

Matrix Profile Foundation 79 Dec 31, 2022
Security evaluation module with onnx, pytorch, and SecML.

🚀 🐼 🔥 PandaVision Integrate and automate security evaluations with onnx, pytorch, and SecML! Installation Starting the server without Docker If you

Maura Pintor 11 Apr 12, 2022
Code repository of the paper Neural circuit policies enabling auditable autonomy published in Nature Machine Intelligence

Neural Circuit Policies Enabling Auditable Autonomy Online access via SharedIt Neural Circuit Policies (NCPs) are designed sparse recurrent neural net

8 Jan 07, 2023
A PyTorch implementation of the paper "Semantic Image Synthesis via Adversarial Learning" in ICCV 2017

Semantic Image Synthesis via Adversarial Learning This is a PyTorch implementation of the paper Semantic Image Synthesis via Adversarial Learning. Req

Seonghyeon Nam 146 Nov 25, 2022
This repository contains the source codes for the paper AtlasNet V2 - Learning Elementary Structures.

AtlasNet V2 - Learning Elementary Structures This work was build upon Thibault Groueix's AtlasNet and 3D-CODED projects. (you might want to have a loo

Théo Deprelle 123 Nov 11, 2022
PyTorch implementation of paper: HPNet: Deep Primitive Segmentation Using Hybrid Representations.

HPNet This repository contains the PyTorch implementation of paper: HPNet: Deep Primitive Segmentation Using Hybrid Representations. Installation The

Siming Yan 42 Dec 07, 2022
A Gura parser implementation for Python

Gura Python parser This repository contains the implementation of a Gura (compliant with version 1.0.0) format parser in Python. Installation pip inst

Gura Config Lang 19 Jan 25, 2022
This repository accompanies the ACM TOIS paper "What can I cook with these ingredients?" - Understanding cooking-related information needs in conversational search

In this repository you find data that has been gathered when conducting in-situ experiments in a conversational cooking setting. These data include tr

6 Sep 22, 2022
Mapping Conditional Distributions for Domain Adaptation Under Generalized Target Shift

This repository contains the official code of OSTAR in "Mapping Conditional Distributions for Domain Adaptation Under Generalized Target Shift" (ICLR 2022).

Matthieu Kirchmeyer 5 Dec 06, 2022
Log4j JNDI inj. vuln scanner

Log-4-JAM - Log 4 Just Another Mess Log4j JNDI inj. vuln scanner Requirements pip3 install requests_toolbelt Usage # make sure target list has http/ht

Ashish Kunwar 66 Nov 09, 2022
MixRNet(Using mixup as regularization and tuning hyper-parameters for ResNets)

MixRNet(Using mixup as regularization and tuning hyper-parameters for ResNets) Using mixup data augmentation as reguliraztion and tuning the hyper par

Bhanu 2 Jan 16, 2022
3DV 2021: Synergy between 3DMM and 3D Landmarks for Accurate 3D Facial Geometry

SynergyNet 3DV 2021: Synergy between 3DMM and 3D Landmarks for Accurate 3D Facial Geometry Cho-Ying Wu, Qiangeng Xu, Ulrich Neumann, CGIT Lab at Unive

Cho-Ying Wu 239 Jan 06, 2023