Re: [ompl-users] Exploration of an unknown environment

[Mark M. <mm...@ri...>]

Hi Alon,

There is no built-in support for planning in unknown environments. However, that doesn’t mean it cannot be done. One approach is described here: http://ompl.kavrakilab.org/2014/10/21/bringing-belief-space-planning-to-ompl.html <http://ompl.kavrakilab.org/2014/10/21/bringing-belief-space-planning-to-ompl.html>. The code for this is available here: https://github.com/sauravag/edpl-ompl <https://github.com/sauravag/edpl-ompl>

Best,

Mark



> On Oct 23, 2019, at 3:11 AM, Alon Faraj <alo...@gm...> wrote:
> 
> Hi, 
> 
> I'm working on a robot that mapping an area based on a RGB-D camera.
> I'm trying to understand if I can use OMPL for exploring an unknown environment.
> Everything I found in the library based on the end goal which I don't have in my case.
> 
> Any help would be greatly appreciated.
> 
> Thanks.