Researchdirections

Figure 1: With differentiable GICP algorithm, we can train our neural network to infer importance, or weight, of each point in the point cloud that could be used in later GICP step. In the figure, points with lower weights are rendered in green, and those with higher weights are rendered in red. Note that points on grounds, which often exhibit non-uniform distribution, have generally lower weights than the others. Abstract We present a novel differentiable weighted generalized iterative closest point (WGICP) method applicable to general 3D point cloud data, including that from lidar.

Abstract Owing to the growth in the field of swarm robotics, simulation of multiple agents sharing a common workspace have gained increasing attention. This package provides one such platform with the support to spawn multiple agents(quadrotors) in a simulated environment(Gazebo). It incorporates into it ORCA (Optimal Reciprocal Collision Avoidance), a local collision avoidance scheme that is scalable to a large number of swarm agents, to help agents navigate the environment without colliding with each other.

Cloning the package from github Before cloning the package, create a catkin workspace using the following commands mkdir -p ~/dorca_ws cd ~/dorca_ws mkdir -p src catkin_make and run the following command to clone the d-orca package cd ~/dorca_ws/src git clone https://github.com/harish1696/d-orca cd d-orca git submodule update –init Dependencies Before building the d-orca package, the following dependencies have to be installed ROS Kinetic MAVROS PX4 Gazebo 7.13 Note :The above dependencies assume you have Ubuntu 16.

ROS Network Setup ROS is a distributed computing environment. A running ROS system can comprise dozens, even hundreds of nodes, spread across multiple machines. Depending on how the system is configured, any node may need to communicate with any other node, at any time. As a result, ROS has certain requirements of the network configuration: There must be complete, bi-directional connectivity between all pairs of machines, on all ports.

It is assumed that one of the machines in the network is powerful enough to handle the resource-intensive process of running the PX4 SITL simulation. The recommended configuration of the machine that is used to run the simulation is mentioned here. Also, this machine is usually configured as the master in the ROS network as explained in Setting up ROS Networks. Launching the simulation Inorder to launch the PX4 SITL simulation it is neccessary to create a roslaunch file that contains the xml commands to spawn the desired number of iris quadrotors in an empty gazebo world.