The project has been tested on 18.04(ROS Melodic). Take Ubuntu 18.04 as an example, run the following commands to setup:

  sudo apt-get install libarmadillo-dev ros-melodic-nlopt
  cd ${YOUR_WORKSPACE_PATH}/src
  git clone https://github.com/Galaxy1stShooter/relink.git
  cd ../ 
  catkin_make -DCATKIN_WHITELIST_PACKAGES="message_files"
  catkin_make -DCATKIN_WHITELIST_PACKAGES=""

After compilation you can start the visualization by:

  source devel/setup.bash && roslaunch visualization visualization.launch

, then you can start the robot simulator (we use Fast-Planner here) by:

  source devel/setup.bash && roslaunch plan_manage swarm.launch

and start the algorithm by:

  source devel/setup.bash && roslaunch optimizer algorithm.launch

. You can use 2D Nav Goal in Rviz to start RELINK.

RELINK: Real-Time Line-of-Sight-Based Deployment Framework of Multi-Robot for Maintaining a Communication Network, Lijia Xia, Beiming Deng, Jie Pan, Xiaoxun Zhang, Peiming Duan, Boyu Zhou, Hui Cheng, IEEE Robotics and Automation Letters (RA-L), 2023.

Please cite this paper if you find this project useful.

• The robot simulator of this project is based on Fast-Planner by Zhou Boyu.
• The L-BFGS solver we use is from LBFGS-Lite.