Goals for Driving Swarm Team Project Summer Term 2024

Deadline: Okt 07

(Klausurenphase:22.07-31.07)

Algorithms

Implement the following algorithms and verify that they are working. Gather a performance dataset for each algorithm.

• Conflict-Based Search (Global Planner)
• Prioritized Planning
• Priority-Based Search

Stretch Goal

• Safe Interval Path Planning

Experiments

latest start (26.08) Measure the performance of each algorithm in experiments using the following environments

• Discrete Simulation
• Gazebo Simulation
• Real Robots

Stretch Goal: Second Scenario (1m Grid)

• Discrete Simulation
• Gazebo Simulation
• Real Robots

4 Wochen

Statistical Evaluation

latest start: 23.09. (1 week time)

Compare the algorithm performance of the different algorithms based on their performance. Analyze the following performance metrics:

• Number of completed goals in each scenario
• Time to Goal

Based on the performance metrics:

• Does the performance of algorithms differs significantly? (Mann-Whitney-U test + Bonferroni(-Holm) Correction)
• What algorithm performs best and why?

Stretch Goal:

• Analyze Deadlocks

deadline (30.09.)

Documentation

latest start 30.09. (1 week time)

• Do a presentation (End of Project)
• Document the results
  • How does each algorithm work
  • What experiments did you do
  • What were the results

Stretch Goal:

• Submit a paper to ICRA2025 DEADLINE Sept 15