db-CBS: Discontinuity-Bounded Conflict-Based Search for Multi-Robot Kinodynamic Motion Planning

Db-CBS is a multi-robot kinodynamic motion planner that enables a team of robots with different dynamics, actuation limits, and shapes to reach their goals in challenging environments. It solves this problem by combining the Multi-Agent Path Finding (MAPF) optimal solver Conflict-Based Search (CBS), the single-robot kinodynamic motion planner discontinuity-bounded A* (db-A*), and non- linear trajectory optimization.

Paper on arXiv and Video are available.

Get primitives

The primitives are on the TUB cloud. The easiest is to use a symlink:

ln -s /home/${USER}/tubCloud/projects/db-cbs/motions motions

Alternatively, download a copy

wget https://tubcloud.tu-berlin.de/s/CijbRaJadf6JwH3/download
unzip download
rm download

Building

Tested on Ubuntu 22.04.

mkdir buildRelease
cd buildRelease
cmake -DCMAKE_BUILD_TYPE=Release -DCMAKE_PREFIX_PATH="/opt/openrobots/" ..
make -j

Running

cd buildRelease
python3 ../scripts/benchmark.py

ROS

ROS2 workspace needs to have crazyswarm2.

Set Up

Add a symlink of dbcbs_ros to your ROS2 workspace

ln <PATH-TO>/dbcbs_ros <PATH-TO>ros2_ws/src/ -s

Build

colcon build --symlink-install 

Usage

Note that all configuration files are the ones used in cvmrs_ros/config. This allows to commit those files without changing the default value of the (public) crazyswarm2 repository.

ros2 launch dbcbs_ros launch.py

and in a separate terminal

ros2 run dbcbs_ros multi_trajectory