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meco-group / omg-tools

Optimal Motion Generation-tools: motion planning made easy
GNU Lesser General Public License v3.0
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Distributed problems #89

Closed EnricaSo closed 4 years ago

EnricaSo commented 4 years ago

Hello!

I have an issue with understanding how to distribute the ADMM problem on multiple computers/robots. If I understand correctly, in the compare_distributed_vs_central_quadrotors.py example (and all other distributed examples), the formulation of the problem is distributed, but the code is implemented in a central way: there is one single problem at the root layer. Also, in the ros_example, I understood that all the computation happens on the pc and then commands are published on some topics that the robots are listening to. Is that correct?

Thanks, Enrica

rubenvanparys commented 4 years ago

Yes that's correct. There is however alsof the 'export' functionality. This allows to generate C bindings for a single agent, in order to run it truly distributed (as in the example videos with the autonomous vehicles). In Python, all distributed control examples are simulated in a central way.

Op di 1 sep. 2020 17:08 schreef Enrica notifications@github.com:

Hello!

I have an issue with understanding how to distribute the ADMM problem on multiple computers/robots. If I understand correctly, in the compare_distributed_vs_central_quadrotors.py example (and all other distributed examples), the formulation of the problem is distributed, but the code is implemented in a central way: there is one single problem at the root layer. Also, in the ros_example, I understood that all the computation happens on the pc and then commands are published on some topics that the robots are listening to. Is that correct?

Thanks, Enrica

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