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CMPCC

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CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight

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# CMPCC
Corridor-based Model Predictive Contouring Control for Aggressive Drone Flight

## 0. Overview
**CMPCC** is an efficient, receding horizon, local adaptive low level planner as the middle layer between our original planner and controller [trr](https://github.com/USTfgaoaa/Teach-Repeat-Replan).

**Author**: Jialin Ji, Xin Zhou and [Fei Gao](https://ustfei.com/) from the [ZJU Fast Lab](www.kivact.com/).

**Related Paper**: [CMPCC: Corridor-based Model PredictiveContouring Control for Aggressive Drone Flight](https://arxiv.org/abs/2007.03271), Jialin Ji, Xin Zhou, Chao Xu, Fei Gao, accepted, International Symposium on Experimental Robotics (ISER 2020).

**Video Links**: [youtube](https://www.youtube.com/watch?v=_7CzBh-0wQ0) or [bilibili](https://www.bilibili.com/video/BV1cZ4y1u7Ur)

![](https://raw.githubusercontent.com/ZJU-FAST-Lab/CMPCC/master/figs/1.gif)
![](https://raw.githubusercontent.com/ZJU-FAST-Lab/CMPCC/master/figs/2.gif)

### Features
-  online flight speed optimization
-  strict safety and feasibility
-  real-time performance
### File Structure
- **src/cmpcc**: key module of CMPCC, which is a single ros package 
- **src/simualtion**: a lightweight simulator for quadrotors 
- **src/utils**: some functional codes and plugins
- **osqp**: a copy of [OSQP](https://osqp.org/) source code for solving qp problem.
- **key2joy.py**: a user-interface tool based on pygame for setting disturbance

## 1. Prerequisites
Our software is developed and tested in Ubuntu 18.04, ROS Melodic. Other version may require minor modification.

You can clone this repository: 
```
git clone https://github.com/ZJU-FAST-Lab/CMPCC.git
cd CMPCC
```
To install the following dependencies, you can run the auto-install script by
```
chmod +x install_tools.sh
./install_tools.sh
```
If failed, you can manually install them one by one:
- install dependencies
```
sudo apt-get install libyaml-cpp-dev
sudo apt-get install libarmadillo-dev
```
- install pygame for key2joy.py
```
sudo apt-get install python-pip
pip install pygame
```
- install osqp

```
cd osqp
mkdir build
cd build
cmake -G "Unix Makefiles" ..
cmake --build .
sudo cmake --build . --target install
```

## 2. Build on ROS
After the prerequisites are satisfied, you can catkin_make in this repository directory, which is already a ros-workspace:
```
catkin_make
```

## 3. Run the Simulation
```
source devel/setup.bash
./simulation.sh
```
You can set wind disturbance with keyboard "WASD". The default disturbance is quite fierce. If the drone flew outside the corridor, you would have to relauch the nodes.

## 4. Licence
The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.

## 5. Maintaince

For any technical issues, please contact Jialin JI (jlji@zju.edu.cn) or Fei GAO (fgaoaa@zju.edu.cn).

For commercial inquiries, please contact Fei GAO (fgaoaa@zju.edu.cn).

CMPCC

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