Repository associated with the paper "AMSwarmX: Safe Swarm Coordination in CompleX Environments via Implicit Non-Convex Decomposition of the Obstacle-Free Space" accepted to IEEE ICRA 2024.

• Install packages (supported distro melodic and noetic):

sudo apt-get install ros-<distro>-octomap
sudo apt-get install ros-<distro>-octomap-server
sudo apt-get install ros-<distro>-octomap-ros
sudo apt-get install ros-<distro>-dynamic-edt-3d
sudo apt install libeigen3-dev

• Clone the repository:

cd catkin_ws/src/
git clone https://github.com/utiasDSL/AMSwarmX
mv AMSwarmX/* . && rm -rf AMSwarmX

• Build only the thirdparty package:

touch amswarmx/CATKIN_IGNORE
cd ..
catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
source devel_isolated/setup.bash

• Once thirdparty is built and source, build amswarmx:

rm src/amswarmx/CATKIN_IGNORE
catkin_make_isolated -DCMAKE_BUILD_TYPE=Release
source devel_isolated/setup.bash

Modify configuration file simulation.launch and config_am_swarm.yaml as you like. Then run:

roslaunch amswarmx simulation.launch

• Bookstore
  
• Office
  
• Random room
  
• Star room
  

This package builds upon and uses the below listed packages. Some of the modified codes can be found in the thirdparty folder. For the rest of the packages, installation instructions are provided.

• AMSwarm
• jps3d
• DecompROS
• octomap
• Eigen3
• catkin_simple
• graph_rviz_plugin

For license, see LICENSE file.