github.com/Robotics-STAR-Lab/SOAR @models-v1.0.0

<h1> 
  <img src="https://github.com/Robotics-STAR-Lab/SOAR/raw/models-v1.0.0/assets/imgs/logo.svg" width="35" height="35" /> SOAR
</h1>
</h1>
<h2>Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction</h2>
<strong>IROS 2024 Oral</strong>



    <a href="https://zager-zhang.github.io" target="_blank">Mingjie Zhang</a><sup>1,3,*</sup>,
    <a href="https://chen-albert-feng.github.io/AlbertFeng.github.io" target="_blank">Chen
        Feng</a><sup>2,*</sup>,
    <a href="https://robotics-star.com/people" target="_blank">Zengzhi Li</a><sup>1,4</sup>,
    <a href="https://robotics-star.com/people" target="_blank">Guiyong Zheng</a><sup>1</sup>,
    <a href="https://robotics-star.com/people" target="_blank">Yiming Luo</a><sup>1</sup>,



    <a href="https://zdh.ncepu.edu.cn/szdw/fjs/2e5352e61fb648aa890d5aaaf1f1447f.htm" target="_blank">Zhu
        Wang</a><sup>4</sup>,
    <a href="https://facultyprofiles.hkust-gz.edu.cn/faculty-personal-page/ZHOU-Jinni/eejinni"
        target="_blank">Jinni Zhou</a><sup>5</sup>,
    <a href="https://uav.hkust.edu.hk/group" target="_blank">Shaojie Shen</a><sup>2</sup>,
    <a href="https://robotics-star.com/people" target="_blank">Boyu Zhou</a><sup>1,†</sup>



    <h45>
        <sup>1</sup> Sun Yat-Sen University. &nbsp;&nbsp;
        <sup>2</sup> The Hong Kong University of Science and Technology. &nbsp;&nbsp;



        <sup>3</sup> Northwestern Polytechnical University. &nbsp;&nbsp;
        <sup>4</sup> North China Electric Power University. &nbsp;&nbsp;



        <sup>5</sup> The Hong Kong University of Science and Technology (Guangzhou). &nbsp;&nbsp;



    </h45>
    <sup>*</sup>Equal Contribution &nbsp;&nbsp;
    <sup>†</sup>Corresponding Authors



<a href="https://ieeexplore.ieee.org/abstract/document/10801474"><img alt="Paper" src="https://img.shields.io/badge/Paper-IEEE-blue"/></a>
<a href="https://arxiv.org/abs/2409.02738"><img alt="Paper" src="https://img.shields.io/badge/Paper-arXiv-red"/></a>
<a href='https://robotics-star.com/SOAR'><img src='https://img.shields.io/badge/Project_Page-SOAR-green' alt='Project Page'></a>
<a href="https://www.bilibili.com/video/BV1G1421Q79m"><img alt="Bilibili" src="https://img.shields.io/badge/Video-Bilibili-purple"/></a>
<a href="https://www.bilibili.com/video/BV1wEyHYjEAq"><img alt="Bilibili" src="https://img.shields.io/badge/Talk-Bilibili-pink"/></a>

📢 News

• [09/10/2024]: The code of SOAR is released.
• [30/06/2024]: SOAR is accepted to IROS 2024 and selected as oral presentation (acceptance rate: 10%).

📜 Introduction

[IROS'24] This repository maintains the implementation of "SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction".

The key modules of SOAR are detailed in this overview.

And we also provide a special demo for IROS2024.

If you find this work useful in your research, please consider citing:

@inproceedings{zhang2024soar,
  title={SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction},
  author={Zhang, Mingjie and Feng, Chen and Li, Zengzhi and Zheng, Guiyong and Luo, Yiming and Wang, Zhu and Zhou, Jinni and Shen, Shaojie and Zhou, Boyu},
  booktitle={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  pages={10975--10982},
  year={2024},
  organization={IEEE}
}

Please kindly star ⭐️ this project if it helps you. We take great efforts to develop and maintain it 😁.

🛠️ Installation

Prerequisite

• ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04)
• PCL
• Eigen

For Marsim:

sudo apt update
sudo apt install libglfw3-dev libglew-dev

For GCOPTER:

sudo apt update
sudo apt install libompl-dev

Compilation

Project:

git clone https://github.com/Robotics-STAR-Lab/SOAR.git
cd SOAR
catkin_make

If you have installed Anaconda, please use catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.

LKH-3.0.6:

cd src/planner/utils/lkh_mtsp_solver/LKH
make -j

🚀 Quick Start

Pisa Cathedral

source devel/setup.bash && roslaunch heterogeneous_manager rviz.launch
source devel/setup.bash && roslaunch heterogeneous_manager pisa.launch

Sydney Opera House

source devel/setup.bash && roslaunch heterogeneous_manager rviz.launch
source devel/setup.bash && roslaunch heterogeneous_manager sydney.launch

NOTE

Trigger the quadrotors to start planning with the 2D Nav Goal when the terminal displays wait for trigger. All scenes are provided in src/heterogeneous_manager/launch/XXX.launch

If you want to use the GPU version of MARSIM, you can change the parameter "use_gpu" to true in src/heterogeneous_manager/launch/XXX.launch

<arg name="use_gpu" value="true" />

Adjusting the Number of Photographers

The current version temporarily only supports a single explorer.

You can modify the pisa.launch or sydney.launch file as follows:

  <arg name="drone_num" value="_NUM_" />

  ... ...


  <group ns="quad_0">
    <include file="$(find heterogeneous_manager)/launch/single_lidar_uav_exploration.xml">
      <arg name="drone_id" value="0" />

      ... ...

    </include>

    <group if="$(arg use_sim)">
      <include file="$(find heterogeneous_manager)/launch/single_lidar_uav.xml">
        <arg name="drone_id" value="0" />

        ... ...


        <arg name="init_x_" value="" />
        <arg name="init_y_" value="" />
        <arg name="init_z_" value="" />
        <arg name="init_yaw" value="" />

        ... ...

      </include>
    </group>
  </group>


  <group ns="quad_1">
    <include file="$(find heterogeneous_manager)/launch/single_camera_uav_exploration.xml">
      <arg name="drone_id" value="1" />

      ... ...

    </include>

    <group if="$(arg use_sim)">
      <include file="$(find heterogeneous_manager)/launch/single_camera_uav.xml">
        <arg name="drone_id" value="1"/>

        <arg name="init_x_" value=""/>
        <arg name="init_y_" value=""/>
        <arg name="init_z_" value=""/>
        <arg name="init_yaw" value=""/>
        <arg name="odom_topic" value="$(arg odom_topic)"/>
      </include>
    </group>
  </group>


  ... ...


  <group ns="quad_X">
    <include file="$(find heterogeneous_manager)/launch/single_camera_uav_exploration.xml">

      <arg name="drone_id" value="X" />

      ... ...

    </include>

    <group if="$(arg use_sim)">
      <include file="$(find heterogeneous_manager)/launch/single_camera_uav.xml">

        <arg name="drone_id" value="X"/>

        <arg name="init_x_" value=""/>
        <arg name="init_y_" value=""/>
        <arg name="init_z_" value=""/>
        <arg name="init_yaw" value=""/>
        <arg name="odom_topic" value="$(arg odom_topic)"/>
      </include>
    </group>
  </group>

🤓 Acknowledgments

• FC-Planner: An Efficient Global Planner for Aerial Coverage.
• FUEL: An Efficient Framework for Fast UAV Exploration.
• RACER: A Rapid Exploration Framework for Multiple UAVs.
• GCOPTER: A General-Purpose Trajectory Optimizer for Multicopters.
• MARSIM: A Light-weight Point-realistic Simulator for LiDAR-based UAVs.

🤗 FC-family Works

1. What is FC-family?

We aim to develop intelligent perception-centric flight to realize Fast Coverage / reConstruction / inspeCtion etc.

2. Projects list

• PredRecon (ICRA2023): Prediction-boosted Planner for Aerial Reconstruction.
• FC-Planner (ICRA2024): Highly Efficient Global Planner for Aerial Coverage.
• SOAR (IROS2024): Heterogenous Multi-UAV Planner for Aerial Reconstruction.