This repository hosts the code for the paper "Safety-critical Motion Planning for Collaborative Legged Loco-Manipulation over Discrete Terrain." The research focuses on safe motion planning for collaborative manipulation of an unknown payload on discrete terrain while avoiding obstacles. Our method employs two sets of MPCs as motion planners: a global MPC that generates a safe trajectory for the team with obstacle avoidance, and decentralized MPCs for each robot that ensure safe footholds on discrete terrain as they follow the global trajectory.
To check the dependencies, visit this repository.
Create a new catkin workspace:
# Create the directories
# Do not forget to change <...> parts
mkdir -p <directory_to_ws>/<catkin_ws_name>/src
cd <directory_to_ws>/<catkin_ws_name>/
# Initialize the catkin workspace
catkin init
catkin config --extend /opt/ros/noetic
catkin config -DCMAKE_BUILD_TYPE=RelWithDebInfo
Clone the repository:
# Navigate to the src directory
cd <directory_to_ws>/<catkin_ws_name>/src
git clone --depth 1 --recurse-submodules https://github.com/DRCL-USC/multi_legged_control.git
Build the packages for the planner and legged controllers:
cd ..
catkin build multi_legged_controllers planner_ros
To efficiently run the motion planner stack and the decentralized loco-manipulation controller stack, we provide a Tmux script. First, install Tmux and Tmuxp:
sudo apt-get install tmux tmuxp
Then, navigate to the scripts directory and load the Tmux session:
cd src/multi_legged_control/scripts
tmuxp load simulation.yaml
If you prefer not to use Tmux, you can run each shell command from the simulation.yaml script in a separate terminal.
@misc{Sombolestan2024Safety-criticalTerrain,
title = {{Safety-critical Motion Planning for Collaborative Legged Loco-Manipulation over Discrete Terrain}},
year = {2024},
author = {Sombolestan, Mohsen and Nguyen, Quan},
month = {10},
url = {https://arxiv.org/abs/2410.11023v1},
isbn = {2410.11023v1},
arxivId = {2410.11023}
}