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Open Apero 1.0.0

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@kaixqu kaixqu released this 01 Nov 15:58
· 1 commit to main since this release
v1.0.0
d8cfb57

The initial public release: the code release of An Efficient Beam Search
Algorithm for Active Perception in Mobile Robotics (Qu et al., IJRR 2026).

Added

  • Graph planners NBS, DBS, SPT and TSP on a random annulus graph, and the RRT and RRT* tree baselines.
  • Gain evaluators for volumetric exploration, surface reconstruction and point collection.
  • A plugin for every role, selected by type: in YAML.
  • open_apero_node, a ROS Noetic planner node for any robot, on a Voxblox map.
  • A Habitat-sim setup for the paper's HSSD experiments, and an offline graph benchmark that
    reproduces the paper's results.
  • A Docker image for x86_64 hosts other than Ubuntu 20.04.

Getting it

Clone with submodules: git clone --recursive https://github.com/OpenApero/openapero.git. The source archives below do not
include the Voxblox submodule. Documentation: https://openapero.github.io/openapero/

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