MR-GMMExplore

This is the open-source project MR-GMMExplore, a communication efficient Multi-Robot GMM submap-based Exploration system. It is an extension to our previous work MR-GMMapping.

The related paper "MR-GMMExplore: Multi-Robot Exploration System in Unknown Environments based on Gaussian Mixture Model" is published in the 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO).

Platform

• Multi-robots with NVIDIA Jetson TX2, Intel RealSense T265, and depth camera D435i
• ubuntu 18.04 (bash)
• ROS melodic
• python2

Dependency

Pytorch for Place Recognition

pip install torch torchvision

Pre-trained model is available here Then change the regarding path of model13.ckpt in MapBuilderNode.py.

Python-PCL

Useful reference here.

GTSAM

git clone https://bitbucket.org/gtborg/gtsam.git
mkdir build
cd build
cmake .. -DGTSAM_INSTALL_CYTHON_TOOLBOX=on
make check
make install
cd cython
sudo python setup.py install

Other dependency

sudo apt install ros-melodic-tf2-ros
pip install autolab_core
pip install sklearn
pip install future
pip install transforms3d
pip install pygraph

For ROS libraries, you can use apt install ros-melodic-(missing library) to install the missing libraries.

Usage Example

Installation

download the repo and then put it in your ros package

catkin_make
source <repo_path>/devel/setup.bash

Multi-robot Exploration

roslaunch gmm_map_python visualgmm_realsence_2robot.launch
roslaunch gmm_map_python exploration_2robot.launch