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We fixed a version for ROS Noetic, to get all features for Kinetic you have to checkout the master branch.

This repository includes ROS packages to plan routes for multiple robots on a search graph. It creates a search graph out of a pixel map and tries to find a path for multiple robots using an extended approach for prioritized planning. The inputs are the tuw_multi_robot_msgs/RobotInfo messages which include the robots pose, the map and the desired goal poses. The output are multiple synchronized routes given to the individual robots.

The multi robot route planner can derive plans for hundreds of robots as shown below. mrrp_stage.png


B. Binder, F. Beck, F. K├Ânig and M. Bader, "Multi Robot Route Planning (MRRP): Extended Spatial-Temporal Prioritized Planning," 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019, pp. 4133-4139, doi: 10.1109/IROS40897.2019.8968465 (https://ieeexplore.ieee.org/document/8968465)

B. Binder. (2017), "Spatio-Temporal Prioritized Planning (Master thesis)", Retrieved from TU Wien Bibliothekssystem (Accession No. AC14520240) (http://repositum.tuwien.ac.at/obvutwhs/content/titleinfo/2400890)



tuw_voronoi_graph (A package to generate a voronoi graph out of a ocupancy grid)

tuw_multi_robot_router (The robot router package)

tuw_multi_robot_rviz (A package with additional vizualisation tools for tuw_multi_robot)

tuw_multi_robot_ctrl (A minimal controller for line following to run a demo)

tuw_multi_robot_local_behavior_control (Takes a Route (synchronous) and publishes Path (asynchronous) on which the robot is allowed to move)

tuw_multi_robot_demo (A folder containing demo launch files)

tuw_multi_robot_route_to_path (A package containing a tool to execute the generated synchronized routes on robots listening to path messages)


The following figure represents the current state and planed developments on the tuw_multi_robot framework. The green boxes show already existing modules while the red boxes are not yet implmented/released. The framework is designed to cover all tools needed for an automated delivery system with autonomous vehicles. The current implementation of the system allows one to set goals for multiple vehicles using RViz or by a configuration file. In the future we also want a order management integrated which is capable to assign vehicles for specific deliveries and to generate goals needed by the multi robot route planner. The system provides a simple local motion controller for all robots, which allows a high number (> 100) of vehicles to be controlled in real time using stage. Furthermore, the design allows the usage of existing individual controllers running on each vehicle such as DWA implemented in move_base.


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2024-07-13 14:39