Skip to content
master
Switch branches/tags
Code

Latest commit

 

Git stats

Files

Permalink
Failed to load latest commit information.
Type
Name
Latest commit message
Commit time
 
 
 
 
 
 
 
 
 
 
 
 

vseplanner

The repo aims to provide a planning algorithm and relevant packages to enable a saliency--aware autonomous exploration task for aerial robots.

How to build the planner

Create a new catkin workspace and clone all modules into that workspace.

mkdir vsep_ws && cd vsep_ws && mkdir src && cd src
git clone https://github.com/unr-arl/vseplanner
git submodule update --init --recursive
cd ..
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

We tested this repo with ROS Jade on Ubuntu 14.04, update for newer versions like ROS Kinetic will come soon.

To run the algorithm in the Gazebo simulation environment

First, unzip the gazebo_models.zip in the planner folder into the ./gazebo folder:

unzip gazebo_models.zip && mv gallery_plane gallery_wall painting_wall ~/.gazebo/models

Then, launch the simulation file:

roslaunch ./src/launch/sim_vsep.launch

Test with real datasets

We provided here two datasets recored onboard of a MAV. (More details are explained here). To test the planner, please run the rosbags as well as launching a file:

rosbag play VSEP_Arena.bag --clock
roslaunch ./src/launch/mav_vsep_arena_offline.launch

and use a ros service command shown as below to trigger the planner.

rosservice call /vseplanner '{header: {stamp: now, frame_id: world}}'

If you use this software in a scientific publication, please cite the following paper:

@inproceedings{tung2018vsep,
  title={Visual Saliency-aware Receding Horizon Autonomous Exploration with Application to Aerial Robotics},
  author={Dang, Tung and Papachristos, Christos and Alexis, Kostas},
  booktitle={2018 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={to appear},
  year={2018},
  organization={IEEE}
}

Contact

You can contact us for any question or remark:

About

Visual Saliency Exploration Planner

Resources

Releases

No releases published

Packages

No packages published