Muti Agent Drone System using RotorS simulator

RotorS is a MAV gazebo simulator.

There are simulated sensors coming with the simulator such as an IMU, a generic odometry sensor, and the VI-Sensor, which can be mounted on the multirotor.

Installation Instructions - Ubuntu 20.04 with ROS noetic

1. If you don't have ROS workspace yet you can do so by

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace  # initialize your catkin workspace
$ wstool init
$ wget https://raw.githubusercontent.com/ethz-asl/rotors_simulator/master/rotors_hil.rosinstall
$ wstool merge rotors_hil.rosinstall
$ wstool update
$ git clone git@github.com:orimana2020/Multi_Agent_Drone_ROS_Simulation.git
$ cd ~/catkin_ws
$ catkin build
$ source devel/setup.bash

(optional) Setting GPU

Make sure to use nvidia

glxinfo | grep OpenGL

If not: -

sudo systemctl enable gpu-manager
sudo prime-select nvidia

If still not showing nvidia - reboot

Running the simulation

$ cd ~/catkin_ws
$ source devel/setup.bash
in terminal_1 run:
$ roslaunch rotors_gazebo drone_poll_lanch.launch 
in terminal_2 run:
$ rosrun drone_pollination main_ros_sim.py

UGV with Three Drones in Simulation

Three Drones in Simulation

Trajectory Generation Algorithm

Target Allocation Algorithm Performance

Proof-of-Concept Experiment

CF Micro-Drone