POLIMI RoboCup Rescue Files

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                 Semantic exploration

                 Additional data


 Alberto Quattrini Li, Riccardo Cipolleschi, Michele Giusto, Francesco Amigoni

                  Politecnico di Milano, Italy


			01/07/2014

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This is the README file explains the structure and the content of Experiments
folder (for general information, read the README.txt file at 
the parent folder).

This directory  is structured as follows:
STRUCTURE OF FOLDER
===================
 -Experiments-+-
              |
              |-Mall-+: All experimental results obtained in Mall.
                     |-SmallHp: Experimental results obtained with the 
                     |          hypothesis of victims in small rooms.
                     |-BigHp: Experimental results obtained with the 
                     |          hypothesis of victims in big rooms.
              |-Office-+: All experimental results obtained in Office.
                     |-SmallHp: Experimental results obtained with the 
                     |          hypothesis of victims in small rooms.
                     |-BigHp: Experimental results obtained with the 
                     |          hypothesis of victims in big rooms.

Each leaf folder indicated in the previous structure folder contains
other folders, which refer to the different experimental configuration 
settings. Specifically, from the folder name it is possible to understand
the configuration setting:
<map>_<#robots>_<exploration strategy>_<coordination method>

Then each subfolder of the latter directory refers to different runs
with the same setting. It also contains a script file (.txt file) launchable 
by octave which can generate all figures related to that setting.

Each folder related to a run contains the log files of the robots which 
record the following measures over the experiment run time:
- number of frontiers assigned to the robots divided by semantic labels
- number of victims found
- number of visited (cells where robots physically passed through) 
        and explored cells (cells perceived by robots through SICK sensor)
- traveled distance

Below a summary of the experiments carried out.
Date: 2014/07/01
-------------------------------
Repeated conducted experiments:
  - interval time of each run: 20 minutes
  - number of repetitions: 10
  - environments:
    - Mall (floorplan of a real mall, called Orio al Serio, in Bergamo, Italy)
    - Office (vasche library floor1 - which floorplan is available at 
                                    http://radish.sourceforge.net)
  - number of robots: 4, 6, 8
  - exploration strategies: D-MCDM, S-MCDM
  - Hypothesis on victims: Big rooms and small rooms
  - Coordination methods: SR, MRv1, MRv2