This is the project page of the paper "EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments". In this repo, we provide a simple and lightweight multi-agent simulator based on ROS and a demo implementation of the proposed EPSILON planning system.
If you use EPSILON for your academic research, please consider citing the follow
Paper: IEEE Xplore, arXiv
Demo video: YouTube
BibTex
@article{ding2021epsilon,
title={EPSILON: An Efficient Planning System for Automated Vehicles in Highly Interactive Environments},
author={Ding, Wenchao and Zhang, Lu and Chen, Jing and Shen, Shaojie},
journal={IEEE Transactions on Robotics},
year={2021},
publisher={IEEE}
}
The following papers are also related:
If you have any question, please feel free to contact us via lzhangbz@connect.ust.hk (Lu Zhang)
and wdingae@connect.ust.hk (Wenchao Ding)
.
This project has been tested on Ubuntu 16.04 (ROS Kinetic) and 18.04 (ROS Melodic). For ROS installation, please refer to the official website.
sudo apt-get install libgoogle-glog-dev libdw-dev libopenblas-dev gfortran
pip install empy pygame
We use OOQP for solving quadratic programming problems. Please refer to link_1 and link_2 for the installation instruction.
We use Protocol Buffers for parameter configuration. For the installation guide, please refer to this link.
We recommend the users create an empty workspace. Clone the repo and build:
cd ${YOUR_WORKSPACE_PATH}/src
git clone https://github.com/HKUST-Aerial-Robotics/EPSILON.git
cd ..
catkin_make
source ~/${YOUR_WORKSPACE_PATH}/devel/setup.bash
roscore
.rviz
file:roscd phy_simulator/rviz/
rviz -d phy_simulator_planning.rviz
roslaunch planning_integrated test_ssc_with_eudm_ros.launch
roslaunch ai_agent_planner onlane_ai_agent.launch
roslaunch phy_simulator phy_simulator_planning.launch
Note that the simulator should be launched last.
roscd aux_tools/src/
python terminal_server.py
You can select the target agent by clicking on the colored dots and change its behavior using W-A-S-D
buttons.
We would like to express sincere thanks to the authors of the following tools and packages:
The source code is released under MIT license.
This is research code, it is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of merchantability or fitness for a particular purpose.