Multi-Robot RMPflow

This repository contains a python implementation of Multi-Robot RMPflow [2] and a 2D example for RMPflow [1].

Prerequisites

• Python3
• Numpy
• Scipy
• Matplotlib
• The Robotarium python simulator (optional, only required for formation_preservation.py and cyclic_pursuit_formation.py)

To Run in simulation

2D example in [1]:

python3 rmp_example.py

A simple multi-robot go-to-goal example (centralized version):

python3 multi_agent_rmp_centralized.py

A simple multi-robot go-to-goal example (decentralized version):

python3 multi_agent_rmp.py

Formation preservation experiment in [2]: (the Robotarium python simulator required)

python3 formation_preservation.py

Cyclic pursuit experiment in [2]: (the Robotarium python simulator required)

python3 cyclic_pursuit_formation.py

To Run on the Robotarium

The Robotarium is a remotely accessible swarm robotics testbed. The Robotarium gives users the chance to execute the same code they developed in simulation on real robots. A user can conveniently run an experiment on the Robotarium's robots remotely through the Robotarium's web interface. Please follow the instructions on the Robotarium webpage to run the code on the real robots.

References

• [1] RMPflow: A Computational Graph for Automatic Motion Policy Generation
• [2] Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
• [3] The Robotarium: A remotely accessible swarm robotics research testbed

Questions & Bug reporting

Please use Github issue tracker to report bugs. For other questions please contact Anqi Li.

Citing

If you use the repository in an academic context, please cite following publications:

@article{li2019multi,
  title={Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies},
  author={Li, Anqi and Mukadam, Mustafa and Egerstedt, Magnus and Boots, Byron},
  journal={arXiv preprint arXiv:1902.05177},
  year={2019}
}


@inproceedings{cheng2018rmpflow,
  title={{RMP}flow: A Computational Graph for Automatic Motion Policy Generation},
  author={Cheng, Ching-An and Mukadam, Mustafa and Issac, Jan and Birchfield, Stan and Fox, Dieter and Boots, Byron and Ratliff, Nathan},
  booktitle ={The 13th International Workshop on the Algorithmic Foundations of Robotics},
  url={arXiv preprint arXiv:1811.07049},
  year={2018}
}

If you use the Robotarium, please cite following publication:

@inproceedings{pickem2017robotarium,
  title={The robotarium: A remotely accessible swarm robotics research testbed},
  author={Pickem, Daniel and Glotfelter, Paul and Wang, Li and Mote, Mark and Ames, Aaron and Feron, Eric and Egerstedt, Magnus},
  booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={1699--1706},
  year={2017},
  organization={IEEE}
}

License

This repository is released under the BSD license, reproduced in the file LICENSE in this directory.