db-lacam

We propose discontinuity-Bounded LaCAM (db-LaCAM), a planner that utilizes a precomputed set of motion primitives that respect robot dynamics to generate horizon-length motion sequences, while allowing a user-defined discontinuity between successive motions. The planner db-LaCAM supports arbitrary robot dynamics and can handle heterogeneous team of robots.

Resources: Paper (PDF) | Video | Table (PDF)

Get primitives

The primitives are on the TUB cloud, download a copy, and put them inside db-lacam/

wget https://tubcloud.tu-berlin.de/s/wezMej9ieNjwjz6/download
unzip download
rm download

Update the submodule

cd dynobench
git submodule update --init --recursive 

Building

Tested on Ubuntu 22.04.

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

Run the benchmark

cd buildRelease
python3 ../scripts/benchmark.py 

Run the planner db-lacam

cd buildRelease
./db_lacam -i ../example/forest4.yaml  -o ../results/forest4_output.yaml --stats ../results/forest4_stats.yaml --cfg ../example/algorithms.yaml -t 30000000 

Visualize the output of the planner 3D (saves the video as .html)

cd buildRelease
python3 ../scripts/visualize_3D.py ../example/forest4.yaml --result ../results/forest4_output.yaml

Visualize the output of the planner 2D (saves the video as .mp4)

cd buildRelease
python3 ../scripts/visualize.py ../example/alcove-unicycle.yaml --result ../results/alcove_unicycle_output.yaml --video ../results/alcove_unicycle_video.mp4

License

This software is released under the MIT License, see LICENSE.txt.