Applications and Videos
With ChoiRbot, you can easily develop your new distributed optimization or control scheme on a real network of cooperating robots. Take a look at the following implementations!
Multi-Robot Pickup-and-Delivery
In the video, a heterogeneous team composed of seven Turtlebot 3 ground robots and two Crazyflie 2 aerial robots receive a total of 10 pickup with 10 associated delivery requests (only a subset of them is shown to avoid cluttering the image). The robots execute a distributed resource allocation algorithm to self-assign the tasks by communicating with neighboring robots and then move toward the designated locations.
If you are interested, take a look at the accompaining paper.
Dynamic Task Allocation
In the video, four mobile robots address a dynamic task assignment scenario. In the proposed scheme robots dynamically self-assign the tasks by communicating with neighboring robots, plan their trajectories and move toward the assigned tasks. As soon as a task is served a new one appears, so that robots have to re-organize their allocations according to the new problem data.
Try this example on your own! Follow the installation procedure here and run
source install/setup.bash
ros2 launch choirbot_examples taskassignment.launch.py
A detailed explanation can be found at this link and in our accompaining paper.
Distributed Formation Control
In the following video, six mobile robots, simulated through Gazebo, execute a formation control task. Their goal is to cooperatively draw an hexagon leveraging local computation and communication with neighboring robots.
Try this example on your own! Follow the installation procedure here and run
source install/setup.bash
ros2 launch choirbot_examples formationcontrol.launch.py
A detailed explanation can be found at this link and in our accompaining paper.