Only released in EOL distros:
Package Summary
hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments
- Author: Mark Sollweck, Stefan Kohlbrecher, Florian Berz
- License: BSD
- Source: svn https://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/hector_navigation
Package Summary
hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments
- Author: Mark Sollweck, Stefan Kohlbrecher, Florian Berz
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_navigation.git (branch: master)
Package Summary
hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments
- Author: Mark Sollweck, Stefan Kohlbrecher, Florian Berz
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_navigation.git (branch: master)
Package Summary
hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments
- Author: Mark Sollweck, Stefan Kohlbrecher, Florian Berz
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_navigation.git (branch: master)
Package Summary
hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments
- Maintainer: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- Author:
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_navigation.git (branch: catkin)
Package Summary
hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments
- Maintainer: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- Author:
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_navigation.git (branch: catkin)
Package Summary
hector_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments
- Maintainer: Stefan Kohlbrecher <kohlbrecher AT sim.tu-darmstadt DOT de>
- Author:
- License: BSD
- Source: git https://github.com/tu-darmstadt-ros-pkg/hector_navigation.git (branch: catkin)
Contents
Documentation
This package provides a planner that generates both goals and associated paths for the exploration of unknown environments. The package does not provide a ROS node, but a library that can be used inside a ROS node. A simple usage example is implemented in the hector_exploration_node package.
Video of use of the exploration planner in a real-world RoboCup Rescue scenario:
Video of use of the exploration planner in a simulated RoboCup Rescue scenario:
References
An overview can also be obtained from the following paper (available here):
@INPROCEEDINGS{2013:RoboCup,
author = {S. Kohlbrecher and J. Meyer and T. Graber and K. Petersen and O. von Stryk and U. Klingauf},
title = {Hector open source modules for autonomous mapping and navigation with rescue robots},
year = {2013},
pages = {to appear},
publisher = {Springer},
series = {Lecture Notes in Artificial Intelligence (LNAI)},
booktitle = {Proc. RoboCup Symposium 2013},The exploration approach used is based on the following paper (available here):
@inproceedings{wirth2007exploration,
title={Exploration transform: A stable exploring algorithm for robots in rescue environments},
author={Wirth, S. and Pellenz, J.},
booktitle={Safety, Security and Rescue Robotics, 2007. SSRR 2007. IEEE International Workshop on},
pages={1--5},
year={2007},
organization={IEEE}
}