Constrained Nonlinear Kaczmarz Projection (cNKZ) on Intersection of Manifolds

Overview

This repository hosts the open-source code for our paper:

"Constrained Nonlinear Kaczmarz Projection on Intersections of Manifolds for Coordinated Multirobot Mobile Manipulation"

Constrained nonlinear Kaczmarz projection enables simultaneously satisfying various constraints, especially for a multi-robot team working in a tightly constrained fashion (e.g., moving a table).

Installation

Clone the repository:

git clone https://github.com/JBVAkshaya/PlanningOnManifoldIntersection.git

Repository Structure

Core Components

• lib/: Core functionality

  • Projection algorithms
  • Constraint definitions
  • Collision avoidance algorithm
  • Plotting utilities
  • Other dependencies

• robot_configs/: Robot team and structure configurations

  • Different structures
  • Required team setups

• cellular_automata/: Environment generation

  • Library for generating environments

• algorithms/: Planning implementations

  • RRT with different projection techniques

• experiment_configs/: Experiment settings

  • Algorithmic parameters

Usage

Generate Environments

python scripts/generate_environments.py

Run RRT with cNKZ

To run RRT with cNKZ on all generated environments:

python scripts/run_rrt_cnkz.py

Contact

For questions or inquiries, please contact:

• Akshaya Agrawal