THIS IS RESEARCH CODE AND IS NOT OPTIMISED

This is the code that accompanies "A Distributed Multi-Robot Framework for Exploration, Information Acquisition and Consensus" by Aalok Patwardhan and Andrew J Davison, presented at IEEE ICRA 2024.

Paper

Project Page

Initial Setup

Install Raylib dependencies as mentioned in https://github.com/raysan5/raylib#build-and-installation This will be platform dependent

OpenMP is required (included with gcc in Linux, you may need to install on other platforms)

Clone the repository with the submodule dependencies:

git clone https://github.com/aalpatya/gbpstack.git --recurse-submodules
cd gbpstack

Use CMAKE to set up the build environment and then run 'make':

mkdir build
cd build
cmake ..
make

Run examples

Make any changes to the simulations you want in config/config.json and then run:

./gbpstack

Examples config files are in config directory, and include:

• config.json (default: robots travel to the opposite sides of a circle in free space)
• circle_cluttered.json (robots travel to the opposite sides of a circle around some obstacles)

Run the simulation:

./gbpstack --cfg ../config/circle_cluttered.json

Or create your own config_file.json and run:

./gbpstack --cfg ../config_file.json

During simulation

Press 'H' to display help and tips!

Use the mouse wheel to change the camera view (scroll : zoom, drag : pan, shift+drag : rotate)

Press 'spacebar' to transition between camera keyframes which were set in src/Graphics.cpp.

Play with the code

Edit the parameters in the config files and see the effects on the simulations!

Own formations

You may want to create your own formations and scenarios for the robots.

Towards the end of src/Simulator.cpp there is a function called createOrDeleteRobots(), where you may add your own case.