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[IROS'24 Oral] A Heterogeneous Multi-UAV Planner for Fast Autonomous Reconstruction
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Robotics-STAR-Lab/SOAR
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Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction
Mingjie Zhang1,3,*,Chen Feng2,*,Zengzhi Li1,4,Guiyong Zheng1,Yiming Luo1,
Zhu Wang4,Jinni Zhou5,Shaojie Shen2,Boyu Zhou1,†
1 Sun Yat-Sen University. 2 The Hong Kong University of Science and Technology.
3 Northwestern Polytechnical University. 4 North China Electric Power University.
5 The Hong Kong University of Science and Technology (Guangzhou).
*Equal Contribution †Corresponding Authors
- [09/10/2024]: The code of SOAR is released.
- [30/06/2024]: SOAR is accepted to IROS 2024 and selected asoral presentation (acceptance rate: 10%).
[IROS'24] This repository maintains the implementation of "SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction".
The key modules of SOAR are detailed in this overview.
And we also provide a special demo for IROS2024.
If you find this work useful in your research, please consider citing:
@inproceedings{zhang2024soar,title={SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction},author={Zhang, Mingjie and Feng, Chen and Li, Zengzhi and Zheng, Guiyong and Luo, Yiming and Wang, Zhu and Zhou, Jinni and Shen, Shaojie and Zhou, Boyu},booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},pages={10975--10982},year={2024},organization={IEEE}}
Please kindly star ⭐️ this project if it helps you. We take great efforts to develop and maintain it 😁.
- ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04)
- PCL
- Eigen
For Marsim:
sudo apt updatesudo apt install libglfw3-dev libglew-dev
For GCOPTER:
sudo apt updatesudo apt install libompl-dev
Project:
git clone https://github.com/Robotics-STAR-Lab/SOAR.gitcd SOARcatkin_makeIf you have installedAnaconda, please usecatkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.
LKH-3.0.6:
cd src/planner/utils/lkh_mtsp_solver/LKHmake -jsource devel/setup.bash&& roslaunch heterogeneous_manager rviz.launchsource devel/setup.bash&& roslaunch heterogeneous_manager pisa.launch
source devel/setup.bash&& roslaunch heterogeneous_manager rviz.launchsource devel/setup.bash&& roslaunch heterogeneous_manager sydney.launch
Trigger the quadrotors to start planning with the2D Nav Goal when the terminal displayswait for trigger. All scenes are provided insrc/heterogeneous_manager/launch/XXX.launch
If you want to use the GPU version of MARSIM, you can change the parameter "use_gpu" totrue insrc/heterogeneous_manager/launch/XXX.launch
<argname="use_gpu"value="true" />
The current version temporarily only supports a single explorer.
You can modify thepisa.launch orsydney.launch file as follows:
<!-- TODO: _NUM_ is the total number of explorer and photographers--> <argname="drone_num"value="_NUM_" /> ... ...<!-- Explorer--> <groupns="quad_0"> <includefile="$(find heterogeneous_manager)/launch/single_lidar_uav_exploration.xml"> <argname="drone_id"value="0" /> ... ... </include> <groupif="$(arg use_sim)"> <includefile="$(find heterogeneous_manager)/launch/single_lidar_uav.xml"> <argname="drone_id"value="0" /> ... ...<!-- TODO: Adjust to the appropriate initial position.--> <argname="init_x_"value="" /> <argname="init_y_"value="" /> <argname="init_z_"value="" /> <argname="init_yaw"value="" /> ... ... </include> </group> </group><!-- Photographer1--> <groupns="quad_1"> <includefile="$(find heterogeneous_manager)/launch/single_camera_uav_exploration.xml"> <argname="drone_id"value="1" /> ... ... </include> <groupif="$(arg use_sim)"> <includefile="$(find heterogeneous_manager)/launch/single_camera_uav.xml"> <argname="drone_id"value="1"/><!-- TODO: Adjust to the appropriate initial position.--> <argname="init_x_"value=""/> <argname="init_y_"value=""/> <argname="init_z_"value=""/> <argname="init_yaw"value=""/> <argname="odom_topic"value="$(arg odom_topic)"/> </include> </group> </group><!-- Other photographers' groups--> ... ...<!-- PhotographerX (X = _NUM_-1)--> <groupns="quad_X"> <includefile="$(find heterogeneous_manager)/launch/single_camera_uav_exploration.xml"><!-- TODO: Adjust to the appropriate drone_id = _NUM_-1--> <argname="drone_id"value="X" /> ... ... </include> <groupif="$(arg use_sim)"> <includefile="$(find heterogeneous_manager)/launch/single_camera_uav.xml"><!-- TODO: Adjust to the appropriate drone_id = _NUM_-1--> <argname="drone_id"value="X"/><!-- TODO: Adjust to the appropriate initial position.--> <argname="init_x_"value=""/> <argname="init_y_"value=""/> <argname="init_z_"value=""/> <argname="init_yaw"value=""/> <argname="odom_topic"value="$(arg odom_topic)"/> </include> </group> </group>
- FC-Planner: An Efficient Global Planner for Aerial Coverage.
- FUEL: An Efficient Framework for Fast UAV Exploration.
- RACER: A Rapid Exploration Framework for Multiple UAVs.
- GCOPTER: A General-Purpose Trajectory Optimizer for Multicopters.
- MARSIM: A Light-weight Point-realistic Simulator for LiDAR-based UAVs.
We aim to develop intelligent perception-centric flight to realizeFastCoverage / reConstruction / inspeCtion etc.
- PredRecon (ICRA2023): Prediction-boosted Planner for Aerial Reconstruction.
- FC-Planner (ICRA2024): Highly Efficient Global Planner for Aerial Coverage.
- SOAR (IROS2024): Heterogenous Multi-UAV Planner for Aerial Reconstruction.
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