multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

Repository Summary

Checkout URI https://github.com/sayantani-bhattacharya/multi-hetero-agent-exploration-on-unitreegos.git
VCS Type git
VCS Version main
Last Updated 2025-03-25
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

README

Multi Hetero Agent Exploration by Unitree GOs

Author: Sayantani Bhattacharya

Project Overview

In times of disaster, every second counts, and reaching survivors in hazardous terrains poses significant challenges. Imagine a coordinated team of agile, four-legged robots, working together to navigate treacherous environments like dense forests or mines. These quadrupedal robots autonomously perform simultaneous localization and mapping (SLAM), creating real-time detailed maps of their surroundings. By employing decentralized collaborative system, these robots can share and merge their individual maps, creating a comprehensive understanding of the complete area without relying on a central system. This approach enhances the robustness and speed of search operations, as the failure of a single unit does not compromise the entire mission. Quadrupeds inherently work well in uneven terrains, and harnessing the strengths of SLAM to explore unmapped areas with LIDAR and Visual-Inertial sensor data, these robotic swarms represent a leap forward in disaster response, offering hope and assistance when it’s needed most. By all means this is just the first iteration and needs good work for being deployable onsite. </br> For more details about the project plese refer my Portfolio Post

Block diagram

  1. Complete system:</br>

Alt text

  1. System Architecture of GO2:</br>

    Alt text

  2. System Architecture of GO1:</br>

    Alt text

Tools and References:

Hardware:

  • Unitree GO1 & GO2.
  • Zed 2i Camera & On-board 4D Lidar.
  • Jetson Orin Nano.
  • buck-convertor (24V->12V).
  • 3D print the mount for unitree.
  • Display port adapters for Jetson.
  • Ethernet cable for initial testing with unitree sdk.
  • Micro SD cards.

Software :

  • C++
  • ROS2 Jazzy and Humble
  • Python
  • Unitree SDK - GO1 and GO2
  • Zed SDK
  • Slam, RTabMap, and Nav2 pkg

<!– ### Reference repositories:

  • Unitree Package abstracted layer developed by Nick Morales, Marno Nel, and Katie Hughes: https://github.com/ngmor/unitree_nav
  • Unitree ros2 wrapper: https://github.com/katie-hughes/unitree_ros2
  • Visual slam route: https://github.com/GogiPuttar/Search-and-Rescue_Robot_Dog_Unitree_Go1
  • Graph based slam route: https://roy2909.github.io/Exploration/

Reference papers for collaborative exploration:

  • Awesome paper: https://arxiv.org/pdf/2108.08325   Has a lot of references, inside: see the annotations.
  • Paper of 12 drone c-slam, with github code: http://arxiv.org/pdf/2108.05756
  • C-SLAM subproblems such as map merging (Lee et al., 2012), practical implementations (Kshirsagar et al., 2018), particle filter techniques.
  • ICRA 2023: generalized back-end for c-slam https://www.youtube.com/watch?v=oypURkSuMc4

ROS2-SDK setup for Unitree GO1

ROS2 was set up by cloning and following the instructions for this repository.

ROS2 Packages

go1_description

Holds all the models for visualizing the Unitree Go1 in RViz and simulation in Gazebo.

go2_description

Holds all the models for visualizing the Unitree Go2 in RViz and simulation in Gazebo.

ros2_unitree_legged_msgs

Messages and services for controlling Unitree Go1.

unitree_exploration

Frontier Exploration with the Unitree Go1. Takes in the map, finds frontiers and commands 2-D goal poses to the Nav Stack accordingly.

unitree_kinematics

Library for kinematic calculations for controlling the Go1.

unitree_nav

Package for code and launch files for running the Unitree Go1 in high level mode with ROS 2 Humble.

unitree_legged_real

Holds the launch files for Zed 2i camera nodes, controlling, visualisation and exploration of Unitree Go1.

CONTRIBUTING

No CONTRIBUTING.md found.

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository

multi-hetero-agent-exploration-on-unitreegos repository