Multi-robot Planning

This is a repository of algorithms and ROS nodes focused on multi-robot motion planning. The core component is the base class, CentralizedPlanner defined in mr_generic_planner which defines a class that creates a costmap and presents the generic planning API. Currently implemented children of CentralizedPlanner are:

• CentralizedRRTPlanner in mr_rrt_planner which is an RRT implementation based on the RRTS source.
• CentralizedSBPLPlanner in mr_sbpl_planner which is a search-based planning library (SBPL) developed by Maxim Likhachev.

This code was developed as part of the ground work for multi-robot planning with quality-of-service networking constraints described in the thesis Communication for Teams of Networked Robots by Jonathan Fink. The hope is that it may be useful for other applications.

External code

There are two pieces of source code included in this repository developed by others:

• RRTS - This is a great implementation of the basic RRT application (as well as the more recent RRT* variant). It is coded in C and quite fast.

• SBPL - Another great motion planning library. Developed by Maxim Likhachev, it provides implementations of a number of search-based motion planning algorithms. We are currently only using the ARA* algorithm, but with the hooks in CentralizedSBPLPlanner, it is relatively straight forward to rely on other algorithms included in SBPL.

License

Code is licensed under the BSD license.

Copyright (c) 2011, Jon Fink All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

• Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

• Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

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