Harish Sampathkumar, Senthil Hariharan Arul, Adarsh Jagan Sathyamoorthy, Akshay Rajaraman, Dinesh Manocha (University of Maryland, College Park)
In this work, we present D-ORCA, the first decentralized collision avoidance simulation package for quadrotor swarms. Our package is based on ORCA (Optimal Reciprocal Collision Avoidance), a local collision avoidance scheme that is scalable to a large number of swarm agents and PX4 SITL package for high fidelity quadrotor simulation in Gazebo. Users of the package can simulate a swarm of up to 50 quadrotors which can avoid collisions with each other and with static obstacles in a known environment, and easily add and test their own perception or global path planning code with the package.
Video presented at ROSCon 2019. More details and slides are available at: roscon.ros.org/2019/.