# IPC

**Repository Path**: gchasing/IPC

## Basic Information

- **Project Name**: IPC
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2024-04-02
- **Last Updated**: 2024-08-26

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# IPC

**IPC**: Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances

```
@article{liu2023integrated,
  title={Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances},
  author={Liu, Wenyi and Ren, Yunfan and Zhang, Fu},
  journal={IEEE Robotics and Automation Letters},
  year={2023},
  publisher={IEEE}
}
```

## Overview

Author: [Wenyi Liu](https://github.com/FENYUN323), [Yunfan Ren](https://github.com/RENyunfan) and [Fu Zhang](https://www.mech.hku.hk/academic-staff/Zhang-F) from [HKU MARS Lab](https://mars.hku.hk/).

Paper: [Integrated Planning and Control for Quadrotor Navigation in Presence of Suddenly Appearing Objects and Disturbances](https://ieeexplore.ieee.org/abstract/document/10238764)

Or see the pdf at:  [liu2023ipc.pdf](paper/liu2023ipc.pdf) 

Code: [Github](https://github.com/hku-mars/IPC)

Video Links: [youtube](https://www.youtube.com/watch?v=EZFxTkqqat4), [Bilibili](https://www.bilibili.com/video/BV1NM4y117TH)

Click for the video demo.

[![Video Demo](./IPC/img/out.png)](https://www.youtube.com/watch?v=EZFxTkqqat4)

## 1 About IPC

The **IPC** is an integrated planning and control framework for quadrotors.

The **IPC's characteristic**:

* Safety (Using safe flight corridor as hard constraints)
* Low latency (Can run at 100Hz)
* Strong disturbance rejection capability

Using **IPC**, the quadrotor can:

* Avoid suddenly appearing object
* Fly safely under disturbances (i.e., external forces and wind disturbances)
* Navigate autonomously in dense woods

## 2 Prerequisited

### 2.1 Ubuntu and ROS

Ubuntu 18.04~20.04, [ROS Installation](http://wiki.ros.org/ROS/Installation)

### 2.2 PCL Eigen and fmt

PCL >= 1.6, follow [PCL Installation](https://pointclouds.org)

Eigen >= 3.3.4, follow [Eigen Installation](https://eigen.tuxfamily.org/index.php?title=Main_Page)

fmt: Download fmt.zip at https://github.com/hku-mars/IPC/releases/tag/v0.1.

Build and install by:

```bash
mkdir build
cd build/
cmake -DBUILD_SHARED_LIBS=TRUE ..
make
sudo make install
sudo cp /usr/local/lib/libfmt.so.8 /usr/lib
```

### 2.3 OSQP and OSQP-Eigen

* [osqp-github](https://github.com/osqp/osqp)
* [osqp-document](https://osqp.org/docs/get_started/sources.html)

Install OSQP (please selete the version less than [0.6.3](https://github.com/osqp/osqp/releases/tag/v0.6.3))
```
git clone --recursive https://github.com/osqp/osqp
cd osqp
mkdir build
cd build
cmake ..
sudo make install
```

* [osqp-eigen-github](https://github.com/robotology/osqp-eigen)

Install OSQP-Eigen
```
git clone https://github.com/robotology/osqp-eigen.git
cd osqp-eigen
mkdir build
cd build
cmake ..
sudo make
sudo make install
```

### 2.4 Other

A debug tool: *backward.cpp*

Installation
```
sudo apt-get install libdw-dev
wget https://raw.githubusercontent.com/bombela/backward-cpp/master/backward.hpp
sudo mv backward.hpp /usr/include
```

## 3 Make

```
mkdir -p IPC_ws/src
cd IPC_ws/src
git clone https://github.com/hku-mars/IPC.git
cd ..
catkin_make
```

## 4 Run and test

(1) Navigate autonomously in a simulated environment in the woods 

run ipc
```
source devel/setup.bash
roslaunch ipc ipc.launch
```

run MARSIM simulator
```
source devel/setup.bash
roslaunch test_interface map_rc.launch
```

Then click on the `3D goal` of `rviz` to select the target 

(2) Benchmark: Avoid suddenly appearing object (**Ideal simulation**)

run ipc
```
source devel/setup.bash
roslaunch ipc ipc_avoid.launch
```

run simulator
```
source devel/setup.bash
roslaunch ipc fast_avoid.launch
```