Resiliend Source Seeking with robot swarms - 3D

In this repository, we implement a 3D PD control in SO(3) to align robot swarms with the ascending direction given by our resilient source-seeking algorithm. For a comprehensive understanding of the mathematical theory underlying this code, we recommend reviewing the following works:

@misc{bautista2024so3attitudecontrollersalignment,
  title={SO(3) attitude controllers and the alignment of robots with non-constant 3D vector fields}, 
  author={Jesus Bautista and Hector Garcia de Marina},
  year={2024},
  url={https://arxiv.org/abs/2406.14998}, 
}

@misc{acuaviva2024resilientsourceseekingrobot,
  title={Resilient source seeking with robot swarms}, 
  author={Antonio Acuaviva and Jesus Bautista and Weijia Yao and Juan Jimenez and Hector Garcia de Marina},
  year={2024},
  url={https://arxiv.org/abs/2309.02937}, 
}

Features

This project includes:

• A 3D resilient source-seeking algorithm implementation.
• A Proportional-Derivative (PD) feedback controller for 3D heading control, implemented in SO(3) for systems with 3 degrees of freedom (DOF).
• Numerical tools for computing mathematical expressions necessary to operate in SO(3), (e.g., different techniques to compute the exponential and logarithmic maps).

Installation

We recommend creating a dedicated virtual environment to ensure that the project dependencies do not conflict with other Python packages:

python -m venv venv
source venv/bin/activate

Then, install the required dependencies:

pip install --upgrade pip
pip install -r requirements.txt

requirements.txt contains the versions tested for compatibility with the simulator. Do not modify the versions to ensure stable and reproducible environments. Note that ssl_simulator already provides stable versions for the following core packages: numpy, matplotlib, tqdm, pandas, scipy, ipython.

Additional Dependencies

Some additional dependencies, such as LaTeX fonts and FFmpeg, may be required. We recommend following the installation instructions provided in the ssl_simulator README.

Usage

We recommend running the Jupyter notebooks in the notebooks directory to get an overview of the project's structure and see the code in action.

Credits

This repository is maintained by Jesús Bautista Villar. For inquiries or further information, please get in touch with him at jesbauti20@gmail.com.