Adaptive path planner for swarm robots following a leader

Liwei Yang, Manyung Emma Hon, Robert Kim, Zihan Qu, and Jet Situ

This repository is the final project for Carnegie Mellon University 16-782 Planning and Decision-making in Robotics. We are solving the path planning problem for a swarm of drones changing formations.

Folder structure

├── formations -> stores the formation information
├── maps -> stores the start poses map
├── plans -> stores leader's predefined path
└── (output) -> stores the planner outputs

Map

• map2.txt is for formation.py
• map1.txt is for cbs_rrt.py
• single_robot_map.txt is for rrt_mp.py

Final result

Formation CBS

python formation.py map2.txt plan1.txt formations

Test each component

CBS

python cbs_rrt.py map1.txt

RRT

python rrt_mp.py single_robot_map.txt

Visualizer

python visualizer_cbs.py map1.txt map1_output.txt