SOAR

Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction

IROS 2024 Oral
Mingjie Zhang^1,3,*, Chen Feng^2,*, Zengzhi Li^1,4, Guiyong Zheng¹, Yiming Luo¹,
Zhu Wang⁴, Jinni Zhou⁵, Shaojie Shen², Boyu Zhou^1,†

¹ Sun Yat-Sen University.    ² The Hong Kong University of Science and Technology.   
³ Northwestern Polytechnical University.    ⁴ North China Electric Power University.   
⁵ The Hong Kong University of Science and Technology(Guang Zhou).   
^*Equal Contribution    ^†Corresponding Authors

📢 News

• [09/10/2024]: The code of SOAR is released.
• [30/06/2024]: SOAR is accepted to IROS 2024 and selected as oral presentation (acceptance rate: 10%).

📜 Introduction

[IROS'24] This repository maintains the implementation of "SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction".

The key modules of SOAR are detailed in this overview.

And we also provide a special demo for IROS2024.

If you find this work useful in your research, please consider citing:

@article{zhang2024soar,
  title={SOAR: Simultaneous Exploration and Photographing with Heterogeneous UAVs for Fast Autonomous Reconstruction},
  author={Zhang, Mingjie and Feng, Chen and Li, Zengzhi and Zheng, Guiyong and Luo, Yiming and Wang, Zhu and Zhou, Jinni and Shen, Shaojie and Zhou, Boyu},
  journal={arXiv preprint arXiv:2409.02738},
  year={2024}
}

Please kindly star ⭐️ this project if it helps you. We take great efforts to develop and maintain it 😁.

🛠️ Installation

Prerequisite

• ROS Noetic (Ubuntu 20.04) or ROS Melodic (Ubuntu 18.04)
• PCL
• Eigen

For Marsim:

sudo apt update
sudo apt install libglfw3-dev libglew-dev

For GCOPTER:

sudo apt update
sudo apt install libompl-dev

Compilation

Project:

git clone https://github.com/SYSU-STAR/SOAR
cd SOAR
catkin_make

If you have installed Anaconda, please use catkin_make -DPYTHON_EXECUTABLE=/usr/bin/python3.

LKH-3.0.6:

cd src/planner/utils/lkh_mtsp_solver/LKH
make

🚀 Quick Start

Pisa Cathedral

source devel/setup.bash && roslaunch heterogeneous_manager rviz.launch
source devel/setup.bash && roslaunch heterogeneous_manager pisa.launch

Sydney Opera House

source devel/setup.bash && roslaunch heterogeneous_manager rviz.launch
source devel/setup.bash && roslaunch heterogeneous_manager sydney.launch

NOTE: Trigger the quadrotors to start planning with the 2D Nav Goal when the terminal displays wait for trigger. All scenes are provided in src/heterogeneous_manager/launch/XXX.launch

If you want to use the GPU version of MARSIM, you can change the parameter "use_gpu" to true in src/heterogeneous_manager/launch/XXX.launch

<arg name="use_gpu" value="true" />

🤓 Acknowledgments

• FC-Planner
• FUEL
• RACER
• GCOPTER
• MARSIM

🤗 FC-family Works

1. What is FC-family?

We aim to develop intelligent perception-centric flight to realize Fast Coverage / reConstruction / inspeCtion etc.

2. Projects list

• PredRecon (ICRA2023): Prediction-boosted Planner for Aerial Reconstruction.
• FC-Planner (ICRA2024): Highly Efficient Global Planner for Aerial Coverage.
• SOAR (IROS2024): Heterogenous Multi-UAV Planner for Aerial Reconstruction.