This package implements the Robust Optimal Time Allocation (ROTA) framework which is designed to optimize the time progress of the trajectories temporally and served as a post-processing tool to enhance trajectory time efficiency and safety under uncertainties.
Author: Zhefan Xu, Computational Engineering & Robotics Lab (CERLAB) at Carnegie Mellon University (CMU).
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This repo can be used as a standalone package and also comes as a module of our autonomy framework.
This repo has been tested on ROS Melodic with Ubuntu 18.04 and ROS Noetic with Ubuntu 20.04 and it depends on global_planner, trajectory_planner, and map_manager. Please use the following commands for installation:
cd ~/catkin_ws/src
git clone https://github.com/Zhefan-Xu/time_optimizer.git
cd ~/catkin_ws
catkin_make
The video shows an example of using the ROTA framework to optimize the time allocation of a given trajectory:
simulation.mp4
The related paper can be found on:
Zhefan Xu and Kenji Shimada, “Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation”, IEEE International Conference on Robotics and Automation (ICRA), 2024. [paper] [video]
If you find this work useful, please cite the paper:
@article{xu2023quadcopter,
title={Quadcopter Trajectory Time Minimization and Robust Collision Avoidance via Optimal Time Allocation},
author={Xu, Zhefan and Shimada, Kenji},
journal={arXiv preprint arXiv:2309.08544},
year={2023}
}