MARBLE SubT Graph-Based Global Planner for Long-Range Exploration
Graph-based Global Planner used by Team MARBLE in the DARPA SubT challenge.
Example launch file can be found in:
launch/scan_plan.launch
If you use this work in your own research please consider citing the following works:
title={Efficient Sampling-Based Planning for Subterranean Exploration},
author={Ahmad, Shakeeb and Humbert, J Sean},
booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages={7114--7121},
year={2022},
organization={IEEE}
}
@article{biggie2023flexible,
title={Flexible supervised autonomy for exploration in subterranean environments},
volume={3},
DOI={10.55417/fr.2023004},
number={1},
journal={Field Robotics},
author={Biggie, Harel and Rush, Eugene and Riley, Danny and Ahmad, Shakeeb and Ohradzansky, Michael and Harlow, Kyle and Miles, Michael and Torres, Daniel and McGuire, Steve and Frew, Eric and et al.},
year={2023},
month={Jan},
pages={125–189}
}