This is code for HRI25 paper "Enabling Safe, Active and Interactive Human-Robot Collaboration via Smooth Distance Fields". IDMP ROS package contains the Gaussian Process distance field generation and rmp2_ros package contains the reactive planning which utilises IDMP. See each package for more details and instructions.
See each package for dependencies and requirements before running the following. Only tested in Noetic and ubuntu 20.04.
mkdir -p idmp_ws/src
cd idmp_ws/src
git clone https://github.com/UTS-RI/IDMP-RMP
cd ..
catkin build
source devel/setup.bash
If you use this source code, please cite the below article,
@inproceedings{10.5555/3721488.3721544,
author = {Ali, Usama and Sukkar, Fouad and Mueller, Adrian and Wu, Lan and Le Gentil, Cedric and Kaupp, Tobias and Vidal Calleja, Teresa},
title = {Enabling Safe, Active and Interactive Human-Robot Collaboration via Smooth Distance Fields},
year = {2025},
booktitle = {Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction},
pages = {439–446},
numpages = {8},
location = {Melbourne, Australia},
}