Multi-UAV path planning BINPAT

Algorithm BINPAT for multi-UAV path planning to cover spatial areas, multi-region expansion and replanning.

Link to the published paper describing the algorithm.

Building

The project can either be built as standalone examples or as a static library for linking. Either way the source must be cloned:

git clone https://github.com/cvar-upm/multi_uav_planning_binpat.git

Compiling the Example

Examples can be built with CMake version 3.15.0 or greater:

cd multi_uav_planning_binpat
mkdir build
cd build
cmake ..
cmake --build .

Example executables can be invoked once compilation is finished:

./generate_plan_example

Building and Linking the Library

The library can be built and linked to an external project using CMake. The library target can be added by including the project root directory in the external project CMakeLists.txt and linked normally afterwards:

add_subdirectory(multi_uav_planning_binpat)

target_link_libraries(target planning_binpat)

C++ 17 or greater is required.

Usage

The library exposes 3 functions: BINPAT planning, multi-region planning and replanning. Each of these functions has an example in the examples directory showing its usage:

Name	Algorithm	Header	Example
planning_binpat	BINPAT Planning	auto planning_binpat(const region<Polygon> &region, Homeset &&homeset, const parameters &parameters)	planning_binpat.cpp
generate_plan	Expanded BINPAT Planning	auto generate_plan(Regionset &&regionset, Homeset &&homeset, const parameters &parameters)	generate_plan.cpp
update_plan	Replanning	auto update_plan(Plan &&plan, const parameters &parameters, float threshold)	update_plan.cpp

Additionally, each phase of the algorithm can be invoked independently:

Name	Phase	Header
generate	Generation	auto generate(Regionset &&regionset, const Point &point)
divide	Division	auto divide(Path &&path, std::size_t size, gmt::distance separation)
assign	Assignment	auto assign(Pathset &&pathset, Swarm &&swarm, gmt::distance base, gmt::distance increment)
decorate	Decoration	auto decorate(Pathset &&pathset, Assignment &&assignment, gmt::distance inspection)
link	Linking	auto link(Plan &&plan)
select	Selection	bool select(Plan &&plan, idx::weight weight, float threshold)