Grid-based Distributed Model Predictive Control for Differential Drive/Unicycle Robots

A ROS and Gazebo simulation package for distributed control of TurtleBot3 robots in industrial environments.

External Dependencies:

• numpy
• cvxpy
• scipy

Install Python dependencies with:

pip3 install -r requirements.txt

System Requirements:

• Ubuntu 20.04 + ROS Noetic (recommended, tested stable)

Build Instructions:

cd ~/catkin_ws
catkin_make --only-pkg-with-deps gridbased_dmpc

Configuration:

Use this command to open .bashrc file:

• gedit ~/.bashrc

Make sure the following code exists in your ~/.bashrc file or export them in terminal:

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash

Add the models directory to Gazebo's model path (only required once):

rospack profile
PACKAGE_PATH=$(rospack find gridbased_dmpc)
echo "export GAZEBO_MODEL_PATH=\$GAZEBO_MODEL_PATH:$PACKAGE_PATH/models" >> ~/.bashrc
source ~/.bashrc

Running the Simulation:

The following command launches a simulation with three TurtleBot3 robots navigating a 3D industrial environment using distributed model predictive control:

roslaunch gridbased_dmpc main_multi.launch

Citing this Work:

If you find this software useful for your research or development, please cite the following works:

• A. Venturino, L. Filice, G. Mezzatesta, F. Tedesco and G. Franzè, "Coordination of fleets of autonomous vehicles for logistics operations in industrial environments: a grid based receding horizon control approach," TechRxiv, December 10, 2024, doi: 10.36227/techrxiv.173386516.60845320/v1.

@article{venturino2024coordination,
    author = {Antonello Venturino and Luigino Filice and Giovanni Mezzatesta and Francesco Tedesco and Giuseppe Franzè},
    title = {Coordination of fleets of autonomous vehicles for logistics operations in industrial environments: a grid based receding horizon control approach},
    journal = {TechRxiv},
    year = {2024},
    month = {December},
    doi = {10.36227/techrxiv.173386516.60845320/v1}
}

• A. Venturino, L. Filice and G. Franzè, "Grid-Based Receding Horizon Control for Unicycle Robots Under Logistic Operations," 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA), Padova, Italy, 2024, pp. 1-7, doi: 10.1109/ETFA61755.2024.10710915.

@INPROCEEDINGS{venturino2024grid,
    author={Venturino, Antonello and Filice, Luigino and Franzè, Giuseppe},
    booktitle={2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA)},
    title={Grid-Based Receding Horizon Control for Unicycle Robots Under Logistic Operations},
    year={2024},
    volume={},
    number={},
    pages={1-7},
    doi={10.1109/ETFA61755.2024.10710915}
}

License:

This project is licensed under the BSD 3-Clause License - see the LICENSE file for details.

Contact Information:

Antonello Venturino
Emails:

• posta (at) antonelloventurino (.) me
• antonello (.) venturino (at) unical (.) it