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ntnu-arl / aerial_gym_simulator

Aerial Gym - IsaacGym Simulator for Aerial Robots
https://arxiv.org/abs/2305.16510
BSD 3-Clause "New" or "Revised" License
213 stars 34 forks source link

multiple drone missions #8

Open wagh311 opened 4 weeks ago

wagh311 commented 4 weeks ago

Can this code base be used to train multiple drone missions? Like multiple drone navigation?

mihirk284 commented 1 week ago

It's possible to spawn multiple drones in the same environment.

Currently, in our case, we spawn one robot per environment and one controller per robot. This can however be changed and multiple robots can be spawned and the states of multiple robots can be sent to the controller to act upon simply by reshaping them appropriately.

Subsequently, the controller outputs can be reshaped to command the appropriate rigid bodies in the same environment. Unfortunately, we will not be able to add support for the same in a short-enough timeframe ourselves so I would like to encourage you to try it out and revert on this issue if you need help :)

wagh311 commented 1 week ago

Thanks for your reply, I will give it a try!