This simulator is being built as part of a final project Simultaneous Planning Localization And Mapping For Unmanned Aerial Vehicles for GeorgiaTech course CS 4649/7649 Robot Intelligence and Planning.
Published in ICRA: Kyel Ok, Sameer Ansari, William Gallagher, William Sica, Frank Dellaert, Mike Stilman, "Path Planning with Uncertainty: Voronoi Uncertainty Fields." IEEE International Conference on Robotics and Automation 2013.
The goal of the project is to implement a planning technique into the SLAM framework, using a local planner to direct the path towards the global exploration goal. This work is motivated to improve SLAM performance in uncertain or rapidly changing environments, such as search and rescue missions in a forest using a UAV.
1000 Obstacles
Ground Truth
What UAV sees & remembers
| Local Planner | Global Planner | |
|---|---|---|
| Dec 12 : 100 N | ||
| Dec 13 : 500 N | ||
| Dec 13 : 1000 N | ||
You can download this project in either zip or tar formats.
You can also clone the project with Git by running:
$ git clone git://github.com/Elucidation/UAV-Motion-Planner-Ensemble