verlab / terrain_aware_exploration

Terrain aware exploration algorithms for ground robots

Espeleo planner meta package

Mesh-based safe path planning and exploration for ground robots

Espeleo_planner is a ROS1-enabled, mesh-based, path planner and exploration algorithm for ground robots with traversability constraints.

Features

This meta-package is subdivided in two modules:

• espeleo_planner which is responsable for path planning and autonomous exploration.
• recon_surface which is responsable for the surface reconstruction.

Installation

Please refer to the local modules READMES for instalation and execution.

• Espeleo Planner README
• Recon Surface README

Demo

A demo of the system performing an iteration of the exploration pipeline with the mesh planner is depicted below (Link to complete ICRA 2021 video):

License

MIT

Free Software, Hell Yeah!