Only released in EOL distros:   fuerte

Documentation

Installation

Package location has been changed to: https://github.com/daenny/collvoid

For Indigo and catkin:

Use latest update in repo mentioned above.

For Fuerte use tag fuerte-last.

For Groovy use tag groovy-catkinized

Note: AMCL patch is still required for the messsages!

This package requires patching AMCL (obligatory) and Stage (optional). The AMCL patch is necessary to publish a Weighted Point Cloud needed for the calculation.

Get the necessary packages:

git clone https://github.com/ros-planning/navigation.git -b indigo-devel
git clone https://github.com/daenny/collvoid.git

patch AMCL:

roscd collvoid/..
mv amcl.patch ../navigation
roscd navigation/..
patch -p1 < amcl.patch

and Stage (optional not tested under indigo):

roscd collvoid
mv stage.patch ../stage
roscd stage
patch -p0 < stage.patch

Compile the necessary packages:

roscd
catkin_make

Create a test environment and run:

roscd collvoid_stage
./scripts/create.py -n 4 -s 1.7
roslaunch collvoid_stage sim_created.launch

The create script has the following parameters:

-n <num of robots>
-s <radius of circle>
-l (use ground truth instead of AMCL)
-o (use omnidirectional robots instead of differential drive)

You can control the simulation in the controller window. Send initial guess will send an initial guess to every robot (necessary only if AMCL is used). Start will start the simulation. Reset will reset stage to the initial configuration (works only with patched stage).

Video

References

Daniel Claes. Collision Avoidance under Bounded Localization Uncertainty. M. Sc. Thesis, Department of Knowledge Engineering, Maastricht University, Maastricht, the Netherlands, August 2012. MasterThesisDClaes.pdf

Daniel Claes, Daniel Hennes, Karl Tuyls and Wim Meeussen. Collision Avoidance under Bounded Localization Uncertainty. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012), Vilamoura, Portugal, October 2012.

Daniel Hennes, Daniel Claes, Wim Meeussen and Karl Tuyls. Multi-robot collision avoidance with localization uncertainty. In Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems (AAMAS 2012), Valencia, Spain, June 2012.

J. Alonso-Mora, A. Breitenmoser, M. Rufli, P. Beardsley, and R. Siegwart. Optimal reciprocal collision avoidance for multiple non-holonomic robots. In Proceedings of the 10th International Symposium on Distributed Autonomous Robotic Systems (DARS), 2010.

Jur van den Berg, Stephen J. Guy, Ming Lin, and Dinesh Manocha. Reciprocal n-body collision avoidance. In Robotics Research, volume 70, pages 3-19, May 2011.

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