Package Summary
This is a multi-robot version of the explore package.
- Author: Zhi Yan
- License: BSD
Source: git https://github.com/yzrobot/explore_multirobot.git (branch: master)
Contents
About
The explore_multirobot package is a multi-robot version of the explore package. It can additionally subscribe to external topics such as map and goal, and publish messages about distance traveled and estimated cost.
Nodes
explore_multirobot
explore_multirobot provides support for multi-robot systems.Subscribed Topics
map (nav_msgs/OccupancyGrid)- External map.
- External goal.
Published Topics
~distance_traveled (std_msgs/Float64)- Distance traveled in real-time of the robot.
- Estimated cost for task allocation (currently using Euclidean distance).
Parameters
~inscribed_scale (double, default: 1.0)- How big is enough the frontier for the robot to fit through.
Related Documentation
Please refer to the following paper to retrieve more information on the node:
@inproceedings{yz14simpar,
author = {Zhi Yan and Luc Fabresse and Jannik Laval and Noury Bouraqadi},
title = {Team Size Optimization for Multi-robot Exploration},
booktitle = {In Proceedings of the 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2014)},
pages = {438--449},
address = {Bergamo, Italy},
month = {October},
year = {2014}
}
Support
Zhi Yan, Luc Fabresse, Jannik Laval, and Noury Bouraqadi
Ecole des Mines de Douai, 59508 Douai, France
