====== Lab09 - Data Collection Path Planning with Remote Sensing (TSPN) ======


^ Motivations and Goals  ^
| Become familiar with approaches for for TSPN and (D)TSP |
| Be able to implement Noon-Bean transformation |
^ Tasks ([[courses:b4m36uir:internal:instructions:lab10|teacher]]) ^
| Familiarize with the provided codes and implement any version of a decoupled approach.  |

For more information, see [[courses:b4m36uir:hw:task09|Task09 - Data collection path planning]].

/*

===== Neighborhoods in maze scenario =====

  - **Decoupled approach**
    - First, find the goal sequence by the ETSP. Then, find the final trajectory.
    - First, find the goal sequence by the TSP utilizing the found shortest paths between centres of the given regions. Then, find the final trajectory.
  - **Sampling-based approach**
    - Create samples in the goal neighborhoods and all shortest paths. Then, transform the problem to the ATSP by the Noon-Bean transformation

{{:courses:b4m36uir:labs:noon_bean2.png?300|}}

=== Noon-Bean transformation ===

{{:courses:b4m36uir:labs:noon-bean.png?500|}}

*/