⛵ $\textsf{\color{darkorange}{Sailing\ Through\ Point\ Clouds}}$ 🌤️

This repo contains the official implementation of Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions.

⌨️ $\textsf{\large\color{Dandelion}{Usage}}$

First, clone the repo and pull the meshes using the following commands

git clone https://github.com/BolunDai0216/SailingThroughPointClouds.git

# Git LFS
git lfs pull

Note

The only supported way to run the code is via a dev container on a Linux machine. However (maybe with some changes), the code will work under other settings, please open a GitHub issue for assistance.

To build the dev container, first run the setup script in inside provisioning to create the .zsh_history file, which will be mounted to the dev container

cd /path/to/provisioning && bash setup.sh

Then, open a VS Code window at the root of this repo

cd /path/to/SailingThroughPointClouds && code . 

Then press Shift + Ctrl + P and select Dev Containers: Rebuild and Reopen in Container, which builds the dev container. After the container is built, first generate the height map data by running the dataset generation script in scripts

mkdir data && cd /path/to/scripts && python3 dataset_gen.py

This will save the generated height maps inside the newly created data folder. Then, to run the simulation, run the command

cd /path/to/scripts && python3 sim.py

📖 $\textsf{\large\color{Dandelion}{Citation}}$

To cite our paper, please use the following BibTeX

@article{DaiKKK24,
  author       = {Bolun Dai and Rooholla Khorrambakht and Prashanth Krishnamurthy and Farshad Khorrami},
  title        = {Sailing Through Point Clouds: Safe Navigation Using Point Cloud Based Control Barrier Functions},
  journal      = {{IEEE} Robotics and Automation Letters},
  year         = {2024},
  volume       = {9},
  number       = {9},
  pages        = {7731-7738},
}