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