If you use this code in your academic work, please cite (PDF):
@article{arias2024exploring,
title={Exploring Unstructured Environments using Minimal Sensing on Cooperative Nano-Drones},
author={Arias-Perez, Pedro and Gautam, Alvika and Fernandez-Cortizas, Miguel and Perez-Saura, David and Saripalli, Srikanth and Campoy, Pascual},
journal={IEEE Robotics and Automation Letters},
year={2024}
volume={9},
number={12},
pages={11202-11209},
doi={10.1109/LRA.2024.3486212}
}This work is released under BSD 3-Clause License.
This project has been developed in Ubuntu 22.04 LTS, ROS 2 Humble and Aerostack2.
sudo apt install git python3-rosdep python3-pip python3-colcon-common-extensions -y # previous deps
mkdir -p ~/aerostack2_ws/src/ && cd ~/aerostack2_ws/src/
git clone https://github.com/pariaspe/aerostack2-mininal-sensing-exploration.git
cd ~/aerostack2_ws
sudo rosdep init
rosdep update
rosdep install -y -r -q --from-paths src --ignore-src- Build Aerostack2:
cd ~/aerostack2_ws
colcon build --symlink-install- Clone launching repository:
git clone https://github.com/pariaspe/minimal_sensing_exploration.gitsource ~/mocap_ws/install/setup.bash
tmuxinator start -n mocap -p tmuxinator/mocap.yml# Try ./launch_as2.sh -h for help
./launch_as2.bash -e mocap_pose -r -tpython explore.py./stop.bashAt file config/swarm_config.yaml change the list of drones.
cf0:
uri: radio://0/80/2M/E7E7E7E7E7
cf1:
uri: radio://0/80/2M/E7E7E7E700
# Commented drones will not be launched
# cf2:
# uri: radio://0/80/2M/E7E7E7E702