This project contains software for the quantitative analysis of different aspects of robotic exploration (i.e., mobile robots that autonomously explore initially unknown environments).
More specifically, first, we modified the exploration package (developed by researchers at Bosch Research and Technology Center in Palo Alto, CA), by adding an exploration strategy, namely MCDM, and by introducing the possibility to change perception and decision timing, i.e., event-based or frequency-based perception/decision. Second, we developed a package that collects performance metrics during the exploration process. The project uses the infrastructure provided by ROS and some demos are included.
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