Spatio-Temporal Trajectory Planning on Raw Sensor Observations for Quadrotor in Dynamic Environments

This repository contains the implementation code for the algorithm described in the submitted manuscript "Spatio-Temporal Trajectory Planning on Raw Sensor Observations for Quadrotor in Dynamic Environments". Please don't hesitate to contact the corresponding author Thai Binh Nguyen if you have any requests.

Demonstration video

Update

Detailed wiki and instructions are coming soon!

Prerequisite

We currently support Ubuntu 20.04 with ROS Noetic. Other setups are likely to work as well but not actively supported.

1. Before continuing, make sure to have Github SSH connection.

2. Install anaconda.

Installation

Run the setup.bash in the folder, it will ask for sudo permissions. Then build the packages.

chmod +x setup.bash
./setup.bash
cd ros_ws/src
conda activate agileflight
source ~/.bashrc
catkin build

Running the simulation

To run the the evaluation automatically, you can use the ./sim.bash N script provided in this folder. It will automatically perform N rollouts and then create an evaluation.yaml file which summarizes the rollout statistics.

cd midi/
source ~/.bashrc
./sim.bash 10