VACNA

Ths repository is associated with our RAL submission paper: "VACNA: Visibility-Aware Cooperative Planning with Applcation in Inventory Management"

Dependencies:

• JAX
• bebop_simulator
• robotont_gazebo
• gazebo2rviz (If you need the RViz visualization)

Demo Video

Installation procedure

After installing the dependencies, you can build our propsed MPC package as follows:

cd your_catkin_ws/src
git clone https://github.com/Houman-HM/VACNA
cd .. && catkin build
source your_catkin_ws/devel/setup.bash

Running the algorithm

In order to run the MPC for the warehouse inventory, follow the procedure below:

In the first terminal:

roslaunch vacna warehouse.launch

This launches a warehouse environment in Gazebo.

In the second terminal:

For the MPC with Gaussian Initialization:

rosrun vacna planner_gaussian.py

For the MPC with CVAE Initialization:

rosrun vacna planner_cvae.py

Training the CVAE Model

1. Clone this repository:

git clone https://github.com/Houman-HM/VACNA.git
cd VACNA

2. Create a conda environment and install the dependencies:

conda create -n vacna python=3.8
conda activate vacna
pip install -r requirements.txt

3. Download the training dataset and extract the zip file to the main directory.

4. The training pipeline is outlined in the following Jupyter Notebook.