Adaptive coverage control with CBF

This repository included

• Multiple RP mouse with laser range (indicating CBF safety range)
• Uniform adaptive coverage control with CBF
• Non-uniform adaptive coverage control with CBF via time-varying density function
• trajectory graph plotting script

Requirements

• Computer
  • ROS
    • [Noetic Ninjemys](http://wiki.ros.org/noetic/Installation/Ubuntu
  • Gazebo
    • Gazebo 9.x
  • Package
    • Multiple RaspberryPiMouse robots simulator
  • Python
    • Pyhton 3.x

Installation

Download this package & install all system dependecies

cd ~/<your_workspace>/src
git clone https://github.com/ryuichiueda/raspimouse_ros_2.git
cd ~/<your_workspace>
catkin_make
source devel/setup.bash

Getting started

First launch the simulator

roslaunch coverage_control_cbf main_9robots.launch 

For uniform coverage control

rosrun coverage_control_cbf main_uniform.py

For non-uniform coverage control

rosrun coverage_control_cbf main_non_uniform.py

For non-uniform coverage control with real robots

rosrun coverage_control_cbf main_real.py