MultiAgent-PathPlanning-ROS-SLAM

Efficient path planning and communication strategies deployed in a multi-agent system for autonomous navigation in unknown environments.

ROB 5994: Robotics Directed Research

Advisor: Prof. Maria Gini (University of Minnesota, CSE)

Team: Srijan Pal, Amitabha Deb

Introduction

Enhancing navigation efficiency in dynamic environments with a ROS-based multi-agent system. Implemented diverse path planning algorithms including A*, Dijkstra’s, and RRT* to guide Turtlebots through unknown terrain, overcoming static and dynamic obstacles. Centralized communication scheme consolidates 2D LiDAR SLAM data for comprehensive mapping, facilitating robust autonomous exploration.

Single-robot Autonomously reaching goal avoiding dynamic obstacles using RRT* -

Multi-robot Autonomous Exploration using RRT* -