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ZJU-FAST-Lab / Swarm-Formation

Formation Flight in Dense Environments
GNU General Public License v3.0
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Question on maps #15

Closed smarnav2904 closed 1 year ago

smarnav2904 commented 1 year ago

Could it be possible to run your code on custom predesigned enviroments instead of random ones? Some of your packages depend on "map_generator" so removing it it's not an option but would like to tun some metrics for a paper.

SamuraiChamploo commented 1 year ago

Hello, it is theoretically feasible. Our formation algorithm has no special requirements for the map representation. In the paper, for convenience, we chose to generate the ESDF field in the map_generator to provide obstacle avoidance information. You can replace the above scheme with your desired map representation and obstacle avoidance gradient generation method

smarnav2904 commented 1 year ago

Thank you very much for your response, I managed to change it and runs pretty smoothly. Soon I'll be publishing my final degree project and obviously I'll mention your amazing work with this project.

SamuraiChamploo commented 1 year ago

This is cool. I'm looking forward to your work. Please let me know~