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environments and algorithms for exploration

Implemented an exploration simulation framework with modularity in:

  • Sensors: Neighborhood, 2D-Lidar
  • Exploration Algorithms: Frontier-Based Exploration
  • Mapping: Log-Odds Mapping
  • Motion Planners: Weighted A*

Can explore any environment that is given as a costmap Can easily plug in play other planners / mappers Frontier-based exploration implemented with a few different behavioral modes, each one explores a bit differently.

Includes integration with online mapping. Includes benchmarking framework / benchmarks

Install

pip install .  # pip>=22.1
pip install . --use-feature=in-tree-build  # older pip

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Brain Corp Exploration Repo -- Public

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  • Python 79.7%
  • C++ 19.9%
  • CMake 0.4%