Tube-RRT*

Tube-RRT*: Efficient Homotopic Path Planning for Swarm Robotics Passing-Through Large-Scale Obstacle Environments

Tube-RRT* is an efficient homotopic pah planning algorithm that builds upon and improves the Rapidly exploring Random Tree (RRT) algorithm. Tube-RRT* is specifically designed to generate homotopic paths for the trajectories in the virtual tube, strategically considering the opening volume and tube length to mitigate swarm congestion and ensure agile navigation.

Video Links: YouTube, BiliBilli for Mainland China.

1. Related Paper

Pengda Mao, Shuli Lv, and Quan Quan, "Tube-RRT*: Efficient Homotopic Path Planning for Swarm Robotics Passing-Through Large-Scale Obstacle Environments," IEEE Robotics and Automation Letters, Vol 10, No 3, 2025. DOI:10.1109/LRA.2025.3531151.

2. Run in MATLAB

Run the TubeRRTStarDemo3.m in MATLAB.

3. Run in Ubuntu 18.04

cd cpp
catkin_make
roslaunch grid_path_searcher demo_successRate.launch

Licence

The source code is released under GPLv3 license.

Maintaince

For any technical issues, please contact Pengda Mao(毛鹏达) ([email protected]) or Quan Quan ([email protected]).

Acknowledgement

The C++ code of this paper refers to PointcloudTraj.